CN112906095A - Bridge modal identification method and system based on laser stripe center tracking - Google Patents
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Abstract
The invention provides a bridge mode identification method based on laser stripe center tracking, which comprises the following steps: projecting a laser line to the structural surface of the bridge, and collecting image information of laser stripes formed by the laser line on the surface of the bridge; processing the image of the laser stripe, and extracting the position of the central point of the laser stripe; fitting the horizontal coordinate or the vertical coordinate of the central point of the laser stripe with the time change state to form a laser line displacement time course curve; determining the time domain response of continuous points on the bridge surface in the length range of the laser line projected on the bridge surface according to the laser line displacement time-course curve; identifying a bridge modal parameter according to the time domain response of the continuous points on the surface of the bridge; by the method, accurate bridge modal parameters can be obtained, complex monitoring equipment arrangement on the bridge is not needed, labor cost and equipment cost are effectively saved, the method does not depend on illumination and background conditions, and accuracy is high.
Description
Technical Field
The invention relates to the field of bridges, in particular to a bridge mode identification method and a bridge mode identification system based on laser stripe center tracking.
Background
The modal parameters of the structure mainly comprise natural frequency, vibration mode, damping ratio and the like, the change of the modal parameters can indirectly reflect the change of physical parameters (structure mass, structure rigidity, damping and the like) of the structure, and the modal parameters are main parameters for determining the dynamic characteristics of the structure and the premise and the basis for identifying the structural damage and evaluating the state.
The traditional modal parameter identification method is mainly characterized in that a contact sensor is arranged on the surface of a structure, vibration response signals (displacement, speed, acceleration and the like) of the structure are picked up, modal analysis is carried out on the signals to obtain modal parameters of the structure, the method can only carry out measurement at a few discrete positions, wiring is usually required to carry out data transmission or power supply, the implementation difficulty on large-scale bridges on site is high, and the cost is high.
In recent years, Digital Image Correlation (DIC) has been widely used in the industrial field due to its advantages of non-contact and large-scale measurement, and by tracking the motion of external features of a structure in a sequence of Digital images recorded by a camera, the full-field displacement and deformation of the structure can be measured in a non-contact manner, and thus the structure can be subjected to modal analysis. DIC technology based on target tracking usually requires manual spraying speckles or sticking identification points near the surface of the structure to obtain a traceable external target, which may not be allowed on a practical bridge; the method can realize non-target tracking by applying edge detection and motion amplification algorithms, but has certain requirements on illumination and background conditions. If the illumination condition changes in the measurement process, the method has poor effect.
Therefore, in order to solve the above technical problems, a new technical means is continuously proposed.
Disclosure of Invention
In view of the above, the present invention provides a bridge modal identification method and system based on laser fringe center tracking, which perform identification and estimation of bridge modal parameters based on image information, so as to obtain accurate bridge modal parameters, and at the same time, do not need to perform complicated arrangement of monitoring equipment on a bridge, effectively save labor cost and equipment cost, and do not depend on illumination and background conditions, and have high accuracy.
The invention provides a bridge mode identification method based on laser stripe center tracking, which comprises the following steps:
s1, projecting a laser line to the surface of a structure of a bridge, and collecting image information of laser stripes formed by the laser line on the surface of the bridge; after the laser line emitted by the laser is projected on the surface of the bridge, a line is formed on human vision, however, a laser stripe with a certain width is presented in the image;
s2, processing the image of the laser stripe, and extracting the position of the central point of the laser stripe;
s3, fitting the time-varying state of the abscissa or the ordinate of the central point of the laser stripe to form a laser line displacement time-course curve;
s4, determining time domain response of continuous points on the bridge surface within the length range of the laser line projected on the bridge surface according to the laser line time course curve;
and S5, identifying the modal parameters of the bridge according to the time domain response of the continuous points on the surface of the bridge.
Further, step S2 specifically includes:
s21, carrying out gray level processing on the image of the laser stripe, and expressing the image after the gray level processing by adopting a gray level matrix:
wherein g (x, y) is the gray value of different pixel points in the gray image, and M and N represent that the image is formed by M multiplied by N pixels;
s22, finding out the maximum gray value in a column or a row in the gray matrix, wherein the point corresponding to the maximum gray value is a light intensity peak point, and recording the coordinate of the light intensity peak point;
s23, selecting a 1:2 window, fitting column or row pixel points in a gray matrix to form a secondary curve by adopting a least square method for the stripe with the laser stripe width of s, and obtaining a secondary curve equation:
f(y)=ay2+ by + c (2); if the pixel points of the laser stripes are represented by rows in the gray matrix, fitting the pixel points of the rows;
s24, substituting the coordinates of the pixel points within the width s of the laser stripe into a quadratic curve equation, and performing matrixing processing to obtain a matrix F: f is YB, wherein:
obtaining a matrix B: b ═ YTY)-1YTF (4);
S25, determining a light intensity distribution function of the laser stripes:wherein A is the gray value of the laser stripe, y is the y coordinate of the rectangular coordinate system on the image plane,the y-axis coordinate value of the light intensity distribution center in the rectangular coordinate system is shown, and sigma is the width of the laser stripe intensity distribution;
taking logarithm operation on the light intensity distribution function:
the logarithmic expression of the light intensity distribution function is rewritten as:
F(y)=a0+a1y+a2y2 (7);
establishing an objective function:
wherein 2N +1 represents the number of strongly distributed data points; order toThe matrix equation can be derived:
obtaining the position of the center point of the laser stripe by a Householder conversion method:
further, step S4 specifically includes:
determining a coordinate system, and determining an initial coordinate A of a central point of a laser stripe after a laser line is projected on the surface of the bridge and an initial coordinate B of a corresponding point of the central point of the laser stripe on an image surface; recording the coordinate position C of the installation point of the camera;
after the bridge surface is deformed, determining the coordinate A 'of the displaced central point of the laser stripe and the coordinate B' of the corresponding point on the image surface,
in the coordinate system, the crossing point B is taken as a parallel line of the AA 'connection line, the intersection point of the parallel line and the connection line of the camera coordinate C and the coordinate a' of the center point of the laser stripe is Bi, and the distance between the coordinate B and the intersection point Bi is:
coordinates B and B' define a straight line expressed as:
the straight line passing through point C and point A' is represented as:
wherein, B is the distance between the coordinate origin O and the point B, and C is the distance between the coordinate origin and the camera position coordinate C;
and (12) and (13) are combined to determine the coordinates of B':
calculate the length d of line segment BB':
substituting equation (11) into equation (15):
the time-course vibration curve of the laser stripe is obtained based on equation (16).
Correspondingly, the bridge modal identification system based on laser stripe center tracking comprises a laser source, a camera, an image processing module, a time-course curve fitting module, a bridge vibration time domain response extraction module and a bridge modal parameter identification module;
the laser source is used for emitting laser lines to the surface of the bridge and forming laser stripes on the surface of the bridge;
the camera is arranged outside the bridge, is positioned on the outer side below the bridge and is used for acquiring and outputting a laser stripe image on the surface of the bridge;
the image processing module is used for receiving the image information output by the camera, carrying out gray level processing and then extracting the central point position of the laser stripe in the image;
the time-course curve fitting module receives the central point position of the laser stripe output by the image processing module and fits to form a time-course curve of the central point in a vibration state;
the bridge vibration time domain response extraction module receives the time course curve output by the time course curve fitting module and extracts the vibration time domain response of the bridge;
and the bridge modal parameter identification module receives the vibration time domain response of the bridge output by the bridge vibration time domain response extraction module and identifies the bridge modal parameters.
The invention has the beneficial effects that: according to the invention, the identification and estimation of the bridge modal parameters are carried out based on the image information, so that the accurate bridge modal parameters can be obtained, the complex arrangement of monitoring equipment for the bridge is not needed, the labor cost and the equipment cost are effectively saved, the dependence on illumination and background conditions is avoided, and the accuracy is high.
Drawings
The invention is further described below with reference to the following figures and examples:
FIG. 1 is a flow chart of the present invention.
Fig. 2 is a schematic structural diagram of the present invention.
FIG. 3 is a schematic diagram of the time curve fitting transformation of the present invention.
Fig. 4 is a schematic view of the arrangement structure of the present invention.
Detailed Description
The following detailed description is made in conjunction with the accompanying drawings:
the invention provides a bridge mode identification method based on laser stripe center tracking, which comprises the following steps:
s1, projecting a laser line to the surface of a structure of a bridge, and collecting image information of laser stripes formed by the laser line on the surface of the bridge;
s2, processing the image of the laser stripe, and extracting the position of the central point of the laser stripe;
s3, fitting the time-varying state of the abscissa or the ordinate of the central point of the laser stripe to form a laser line displacement curve; wherein the displacement of the laser line reflects the vibration state of the bridge;
s4, determining time domain response of continuous points on the bridge surface within the length range of the laser line projected on the bridge surface according to the laser line displacement time-course curve;
s5, identifying bridge modal parameters according to the time domain response of the continuous points on the surface of the bridge; by the method, accurate bridge modal parameters can be obtained, complex monitoring equipment arrangement on the bridge is not needed, labor cost and equipment cost are effectively saved, the method does not depend on illumination and background conditions, and accuracy is high.
In this embodiment, step S2 specifically includes:
s21, carrying out gray level processing on the image of the laser stripe, and expressing the image after the gray level processing by adopting a gray level matrix:
wherein g (x, y) is the gray value of different pixel points in the gray image, and M and N represent that the image is formed by M multiplied by N pixels;
s22, finding out the maximum gray value in a column or a row in the gray matrix, wherein the point corresponding to the maximum gray value is a light intensity peak point, and recording the coordinate of the light intensity peak point;
s23, selecting a 1:2 window, fitting column or row pixel points in a gray matrix to form a secondary curve by adopting a least square method for the stripe with the laser stripe width of s, and obtaining a secondary curve equation:
f(y)=ay2+by+c (2);
s24, substituting the coordinates of the pixel points within the width s of the laser stripe into a quadratic curve equation, and performing matrixing processing to obtain a matrix F: f is YB, wherein:
obtaining a matrix B: b ═ YTY)-1YTF (4);
S25, determining a light intensity distribution function of the laser stripes:wherein A is the gray value of the laser stripe, y is the y coordinate of the rectangular coordinate system on the image plane,the y-axis coordinate value of the light intensity distribution center in the rectangular coordinate system is shown, and sigma is the width of the laser stripe intensity distribution;
taking logarithm operation on the light intensity distribution function:
the logarithmic expression of the light intensity distribution function is rewritten as:
F(y)=a0+a1y+a2y2 (7);
establishing an objective function:
wherein 2N +1 represents the number of strongly distributed data points; order toThe matrix equation can be derived:
obtaining the position of the center point of the laser stripe by a Householder conversion method:
In this embodiment, step S4 specifically includes:
determining a coordinate system, and determining an initial coordinate A of a central point of a laser stripe after a laser line is projected on the surface of the bridge and an initial coordinate B of a corresponding point of the central point of the laser stripe on an image surface; recording the coordinate position C of the installation point of the camera;
after the bridge surface is deformed, determining the coordinate A 'of the displaced central point of the laser stripe and the coordinate B' of the corresponding point on the image surface,
in the coordinate system, the crossing point B is taken as a parallel line of the AA 'connection line, the intersection point of the parallel line and the connection line of the camera coordinate C and the coordinate a' of the center point of the laser stripe is Bi, and the distance between the coordinate B and the intersection point Bi is:
coordinates B and B' define a straight line expressed as:
the straight line passing through point C and point A' is represented as:
wherein, B is the distance between the coordinate origin O and the point B, and C is the distance between the coordinate origin and the camera position coordinate C; the above-mentioned geometrical relationship is shown in FIG. 3;
and (12) and (13) are combined to determine the coordinates of B':
calculate the length d of line segment BB':
substituting equation (11) into equation (15):
obtaining a time course vibration curve of the laser stripes based on the formula (16), obtaining the time course curve, obtaining the time domain response of the central points of the laser stripes through the existing algorithm, and obtaining the time domain response of the whole bridge surface through the time domain response of the central points of the laser stripes; then modal parameter identification is carried out based on the existing algorithm, such as:
the time domain response is represented using a linear combination:
j is the modal number of the structure, phijFor the jth modal shape vector of the structure,in the displacement mode, qj(t) is the modal coordinates at time t. At coordinate x, assuming that the vibration of the bridge is entirely caused by an excitation fs applied at a point on the beamAnd fs can be expressed as:
whereinAnd Fs are eachIs thatAnd f, Fourier transform of fs, wherein omega represents frequency, and an experimental modal analysis algorithm is adopted to analyze H to obtain modal parameters of the bridge.
Correspondingly, the bridge modal identification system based on laser stripe center tracking comprises a laser source, a camera, an image processing module, a time-course curve fitting module, a bridge vibration time domain response extraction module and a bridge modal parameter identification module;
the laser source is used for emitting laser lines to the surface of the bridge and forming laser stripes on the surface of the bridge;
the camera is arranged outside the bridge, is positioned on the outer side below the bridge and is used for acquiring and outputting a laser stripe image on the surface of the bridge;
the image processing module is used for receiving the image information output by the camera, carrying out gray level processing and then extracting the central point position of the laser stripe in the image;
the time-course curve fitting module receives the central point position of the laser stripe output by the image processing module and fits to form a time-course curve of the central point in a vibration state;
the bridge vibration time domain response extraction module receives the time course curve output by the time course curve fitting module and extracts the vibration time domain response of the bridge;
and the bridge modal parameter identification module receives the vibration time domain response of the bridge output by the bridge vibration time domain response extraction module and identifies the bridge modal parameters.
Finally, the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting, although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all of them should be covered in the claims of the present invention.
Claims (4)
1. A bridge mode identification method based on laser stripe center tracking is characterized in that: the method comprises the following steps:
s1, projecting a laser line to the surface of a structure of a bridge, and collecting image information of laser stripes formed by the laser line on the surface of the bridge;
s2, processing the image of the laser stripe, and extracting the position of the central point of the laser stripe;
s3, fitting the time-varying state of the abscissa or the ordinate of the central point of the laser stripe to form a laser line displacement time-course curve;
s4, determining time domain response of continuous points on the bridge surface within the length range of the laser line projected on the bridge surface according to the laser line displacement time-course curve;
and S5, identifying the modal parameters of the bridge according to the time domain response of the continuous points on the surface of the bridge.
2. The bridge mode identification method based on laser stripe center tracking according to claim 1, wherein: step S2 specifically includes:
s21, carrying out gray level processing on the image of the laser stripe, and expressing the image after the gray level processing by adopting a gray level matrix:
wherein g (x, y) is the gray value of different pixel points in the gray image, and M and N represent that the image is formed by M multiplied by N pixels;
s22, finding out the maximum gray value in a column or a row in the gray matrix, wherein the point corresponding to the maximum gray value is a light intensity peak point, and recording the coordinate of the light intensity peak point;
s23, selecting a 1:2 window, fitting column or row pixel points in a gray matrix to form a secondary curve by adopting a least square method for the stripe with the laser stripe width of s, and obtaining a secondary curve equation:
f(y)=ay2+by+c (2);
s24, substituting the coordinates of the pixel points within the width s of the laser stripe into a quadratic curve equation, and performing matrixing processing to obtain a matrix F: f is YB, wherein:
obtaining a matrix B: b ═ YTY)-1YTF (4);
S25, determining a light intensity distribution function of the laser stripes:wherein A is the gray value of the laser stripe, y is the y coordinate of the rectangular coordinate system on the image plane,the y-axis coordinate value of the light intensity distribution center in the rectangular coordinate system is shown, and sigma is the width of the laser stripe intensity distribution;
taking logarithm operation on the light intensity distribution function:
the logarithmic expression of the light intensity distribution function is rewritten as:
F(y)=a0+a1y+a2y2 (7);
establishing an objective function:
wherein 2N +1 represents the number of strongly distributed data points; order toThe matrix equation can be derived:
obtaining the position of the center point of the laser stripe by a Householder conversion method:
3. the bridge mode identification method based on laser stripe center tracking according to claim 2, wherein: step S4 specifically includes:
determining a coordinate system, and determining an initial coordinate A of a central point of a laser stripe after a laser line is projected on the surface of the bridge and an initial coordinate B of a corresponding point of the central point of the laser stripe on an image surface; recording the coordinate position C of the installation point of the camera;
after the bridge deck is deformed, determining a coordinate A 'of the displaced central point of the laser stripe and a coordinate B' of a corresponding point on an image plane,
in the coordinate system, the crossing point B is taken as a parallel line of the AA 'connection line, the intersection point of the parallel line and the connection line of the camera coordinate C and the coordinate a' of the center point of the laser stripe is Bi, and the distance between the coordinate B and the intersection point Bi is:
coordinates B and B' determine a straight line as:
the straight line passing through point C and point a' is represented as:
wherein, B is the distance between the coordinate origin O and the point B, and C is the distance between the coordinate origin and the camera position coordinate C;
and (13) combining equations (12) and (13), determining the coordinates of B':
calculating the length d of the line segment BB':
substituting equation (11) into equation (15):
the time-course vibration curve of the laser stripe is obtained based on equation (16).
4. The utility model provides a bridge mode identification system based on laser stripe center is tracked which characterized in that: the bridge vibration time domain response extraction system comprises a laser source, a camera, an image processing module, a time course curve fitting module, a bridge vibration time domain response extraction module and a bridge modal parameter identification module;
the laser source is used for emitting laser lines to the surface of the bridge and forming laser stripes on the surface of the bridge;
the camera is arranged outside the bridge, is positioned on the outer side below the bridge and is used for acquiring and outputting a laser stripe image on the surface of the bridge;
the image processing module is used for receiving the image information output by the camera, carrying out gray level processing and then extracting the central point position of the laser stripe in the image;
the time-course curve fitting module receives the central point position of the laser stripe output by the image processing module and fits to form a time-course curve of the central point in a vibration state;
the bridge vibration time domain response extraction module receives the time course curve output by the time course curve fitting module and extracts the vibration time domain response of the bridge;
and the bridge modal parameter identification module receives the vibration time domain response of the bridge output by the bridge vibration time domain response extraction module and identifies the bridge modal parameters.
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