CN114496218A - Structural state non-contact diagnosis method and system based on visual perception - Google Patents

Structural state non-contact diagnosis method and system based on visual perception Download PDF

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CN114496218A
CN114496218A CN202210016554.5A CN202210016554A CN114496218A CN 114496218 A CN114496218 A CN 114496218A CN 202210016554 A CN202210016554 A CN 202210016554A CN 114496218 A CN114496218 A CN 114496218A
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田永丁
郭立平
余志祥
张丽君
骆丽茹
许浒
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Abstract

The invention relates to the technical field of intelligent operation and maintenance of engineering structures, in particular to a structural state non-contact diagnosis method and system based on visual perception, wherein the method comprises the following steps: s1, acquiring a vibration image sequence of a structure under normal operation through visual imaging equipment, and extracting dynamic displacement of a plurality of measuring points of the structure by using an image matching algorithm; s2, identifying mass normalization vibration mode and modal flexibility parameters of the structure through a modal parameter identification algorithm and a finite element model and a mass change strategy; and S3, defining structural unit rigidity distribution and damage positioning quantitative identification indexes based on modal flexibility, and realizing non-contact type diagnosis and measurement of structural states at different degrees and different positions. The method utilizes non-contact equipment to identify the performance state of the structure, has the advantages of high speed, high precision and good robustness, and has the potential of being applied to the health state judgment of a plurality of bridges on a road network/railway network.

Description

Structural state non-contact diagnosis method and system based on visual perception
Technical Field
The invention relates to the technical field of intelligent operation and maintenance of engineering structures, in particular to a structural state non-contact diagnosis method and system based on visual perception.
Background
The structural displacement is an important index for evaluating the comfort and the safety of the bridge structure. Existing deformation measurement techniques are divided into two categories, contact and non-contact measurement. The contact type measurement is a technology for acquiring deformation signals by pasting a sensor on the surface of a measured structure and converting structural vibration signals into electric signals, and the contact type deformation measurement sensor mainly comprises a communicating pipe, a stay wire type displacement meter, a pressure transmitter and the like. However, the existing contact deformation measurement technology has many defects, such as: the pull-wire type displacement meter has high precision and wide application, but the common structure test lacks a fixed base point, so that the application is difficult. In order to overcome the above problems, non-contact measurement techniques have been rapidly developed in recent years and widely used in deformation measurement of bridge engineering. In recent years, with the characteristics of maturity, low price and the like of technologies such as an optical camera, a CMOS chip and the like, the technology is rapidly developed in the field of civil engineering, and the technology is applied to static and dynamic displacement measurement of simple structures such as beams, plates and columns and complex structures such as sports stands, bridge structures and building structures, but is not applied to positioning and quantitative identification of rigidity distribution and damage states of engineering structure units.
Disclosure of Invention
The invention provides a structural state non-contact diagnosis method and system based on visual perception, which can be preferably applied to engineering structure damage diagnosis.
The invention relates to a structural state non-contact diagnosis method based on visual perception, which comprises the following steps:
s1, acquiring a structural vibration image based on visual imaging and extracting multi-point dynamic displacement;
s2, identifying structural modal compliance parameters based on non-contact measurement displacement;
and S3, positioning and quantitatively identifying the structural unit rigidity distribution and the structural damage.
Preferably, in step S1, the specific steps are:
1) collecting vibration image data of the structure in an operating state by using visual imaging equipment;
2) extracting vibration displacement: and processing the vibration image data of the structure by using a characteristic point matching, region template matching and edge straight line detection image registration algorithm, and realizing the simultaneous extraction of the dynamic displacement of a plurality of measuring points of the structure.
Preferably, in step S2, the specific method is: calculating a correlation function of the displacement of two adjacent points of the structure measured in a non-contact manner, performing Fourier transform to obtain a non-scaling frequency response function matrix of the structure, and identifying the inherent frequency and the displacement mode of the structure by using a modal parameter identification algorithm; extracting a mass distribution matrix of the structure by using the established structure finite element model, and normalizing the identified displacement vibration mode to obtain a structure mass normalized vibration mode; then, the natural frequency and the mass normalized mode are subjected to correlation calculation, so that the modal compliance coefficient of the structure is obtained:
Figure BDA0003461189610000021
wherein:
Figure BDA0003461189610000022
representing the displacement of the structure before damage generated by acting on a unit force measuring point i at the measuring point j;
Figure BDA0003461189610000023
the vibration mode value of the r-th order mass normalized vibration mode at a measuring point i is an undamaged structure;
Figure BDA0003461189610000024
natural circular frequency of undamaged structure; n is the identified modal order.
Preferably, in step S3, the specific method is: multiplying a matrix formed by the identification flexibility coefficients of the undamaged structure by the virtual static load acting on the structure, and calculating to obtain the displacement of the structure under the static load, namely:
Figure BDA0003461189610000025
wherein:
Figure BDA0003461189610000026
the displacement of the measuring point i of the undamaged structure under the static load; n is the total number of the measuring points; fiThe static load acting on the measuring point i is obtained;
according to the Taylor expansion formula, the corner displacement at the positions of the measuring points i and i +1 can be obtained:
Figure BDA0003461189610000031
Figure BDA0003461189610000032
wherein: theta.theta.iAnd thetai+1Respectively measuring the corner displacement of the point i, i + 1;
Figure BDA0003461189610000033
vertical displacement of the nondestructive structure measuring points i-1, i, i +1 and i +2 is measured; lmThe distance between two adjacent measuring points is obtained;
Figure BDA0003461189610000034
and
Figure BDA0003461189610000035
respectively obtaining vibration mode values of the r-order mass normalized vibration mode of the nondestructive structure at measuring points i-1, i +1 and i + 2;
thereby obtaining the average strain of the unit between the measuring point i and the measuring point i +1
Figure BDA0003461189610000036
Comprises the following steps:
Figure BDA0003461189610000037
wherein: h ismNeutral axis height for the cross section of the test structure;
and (3) applying static load q on all measuring points of the undamaged structure, wherein the bending moment load applied to the unit between the measuring point i and the measuring point i +1 is as follows:
Figure BDA0003461189610000038
thus, it can be found that the cell stiffness between measurement point i and measurement point i +1 is:
Figure BDA0003461189610000039
calculating the rigidity of all units in sequence to obtain the distribution rule of the rigidity of the units without damaging the structure; processing the vibration image of the damage structure in a non-contact manner to obtain dynamic displacement information of the damage structure, and repeating the steps to obtain the unit rigidity between the measuring point i and the measuring point i +1 of the damage structure
Figure BDA00034611896100000310
Setting the unit rigidity loss rate to be beta, then
Figure BDA00034611896100000311
Therefore, the damaged structural unit stiffness loss ratio can be obtained as follows:
Figure BDA0003461189610000041
wherein:
Figure BDA0003461189610000042
the r-th order mass normalized mode shape of the damaged structure is at measuring points i-1, i, i +1, iA mode shape value of + 2;
Figure BDA0003461189610000043
normalizing the vibration mode value of the vibration mode at a measuring point j for the r-th order mass of the damage structure;
Figure BDA0003461189610000044
vibration circle frequency for damaged structures;
and the displacement responses of all the measuring points are processed in sequence, so that the rigidity damage condition of each unit can be obtained, and key data support can be provided for the structure operation and maintenance.
The invention provides a structural state non-contact type diagnosis system based on visual perception, which adopts the structural state non-contact type diagnosis method based on visual perception.
The method comprises the steps of collecting a vibration image sequence of a structure under normal operation through a visual imaging device, and extracting dynamic displacement of a plurality of measuring points of the structure by using an image matching algorithm; then, identifying the mass normalized vibration mode and modal compliance parameters of the structure through a modal parameter identification algorithm; and further defining a structural damage identification index based on modal flexibility, and identifying the damage state of the structure in different states.
Drawings
FIG. 1 is a flow chart of a non-contact structural state diagnosis method based on visual perception in embodiment 1;
FIG. 2 is a schematic view of the measurement of structural vibration images based on visual imaging in example 2;
FIG. 3 is a schematic view of the damage condition of the simply supported beam structure in embodiment 2;
fig. 4 is a schematic view of the structural displacement mode based on non-contact measurement displacement identification in embodiment 2;
FIG. 5 is a schematic diagram showing the distribution rule of the rigidity of the intact structural units in example 2;
FIG. 6 is a schematic diagram showing the distribution rule of the stiffness of a single damage structural unit in example 2;
FIG. 7 is a schematic diagram of the identification of the damage degree of a single damaged structure (2% damage of unit 5) in example 2;
FIG. 8 is a schematic diagram of the identification of the damage degree of a single-damaged structure (5% damage of unit 10) in example 2;
FIG. 9 is a schematic diagram of the identification of the damage degree of the double damage structure (5% damage of the unit 9 and 10% damage of the unit 15) in example 2;
fig. 10 is a schematic diagram of the identification of the damage degree of the double damage structure (2% damage of the unit 5, 4% damage of the unit 10, and 6% damage of the unit 15) in example 2.
Detailed Description
For a further understanding of the invention, reference should be made to the following detailed description taken in conjunction with the accompanying drawings and examples. It is to be understood that the examples are illustrative of the invention and not limiting.
Example 1
As shown in fig. 1, the present embodiment provides a non-contact structural state diagnosis method based on visual perception, which includes the following steps:
s1, acquiring a structural vibration image based on visual imaging and extracting multi-point dynamic displacement;
the method comprises the following specific steps:
1) collecting vibration image data of the structure in an operating state by using visual imaging equipment such as an industrial camera, an unmanned aerial vehicle-mounted camera and the like;
2) extracting vibration displacement: and processing the vibration image data of the structure by using image registration algorithms such as feature point matching, region template matching, edge line detection and the like, so as to realize the simultaneous extraction of the dynamic displacement of a plurality of measuring points of the structure.
S2, identifying structural modal compliance parameters based on non-contact measurement displacement;
the specific method comprises the following steps: calculating a correlation function of the displacement of two adjacent points of the structure measured in a non-contact manner, performing Fourier transform to obtain a non-scaling frequency response function matrix of the structure, and identifying the inherent frequency and the displacement mode of the structure by using a modal parameter identification algorithm; extracting a mass distribution matrix of the structure by using the established structure finite element model, and normalizing the identified displacement vibration mode to obtain a structure mass normalized vibration mode; then, the natural frequency and the mass normalized mode are subjected to correlation calculation, so that the modal compliance coefficient of the structure is obtained:
Figure BDA0003461189610000051
wherein:
Figure BDA0003461189610000061
representing the displacement of the structure before damage generated by acting on a unit force measuring point i at the measuring point j;
Figure BDA0003461189610000062
the vibration mode value of the r-th order mass normalized vibration mode at a measuring point i is an undamaged structure;
Figure BDA0003461189610000063
natural circular frequency of undamaged structure; n is the identified modal order.
And S3, positioning and quantitatively identifying the structural unit rigidity distribution and the structural damage.
The specific method comprises the following steps: multiplying a matrix formed by the identification flexibility coefficients of the undamaged structure by the virtual static load acting on the structure, and calculating to obtain the displacement of the structure under the static load, namely:
Figure BDA0003461189610000064
wherein:
Figure BDA0003461189610000065
the displacement of the measuring point i of the undamaged structure under the static load; n is the total number of the measuring points; fiThe static load acting on the measuring point i is obtained;
according to the Taylor expansion formula, the corner displacement at the positions of the measuring points i and i +1 can be obtained:
Figure BDA0003461189610000066
Figure BDA0003461189610000067
wherein: thetaiAnd thetai+1Respectively measuring the corner displacement of the point i, i + 1;
Figure BDA0003461189610000068
vertical displacement of the nondestructive structure measuring points i-1, i, i +1 and i +2 is measured; lmThe distance between two adjacent measuring points is obtained;
Figure BDA0003461189610000069
and
Figure BDA00034611896100000610
respectively obtaining vibration mode values of the r-order mass normalized vibration mode of the nondestructive structure at measuring points i-1, i +1 and i + 2;
thereby obtaining the average strain of the unit between the measuring point i and the measuring point i +1
Figure BDA00034611896100000611
Comprises the following steps:
Figure BDA00034611896100000612
wherein: h ismNeutral axis height for the cross section of the test structure;
and (3) applying static load q on all measuring points of the undamaged structure, wherein the bending moment load applied to the unit between the measuring point i and the measuring point i +1 is as follows:
Figure BDA0003461189610000071
thus, it can be found that the cell stiffness between the measurement point i and the measurement point i +1 is:
Figure BDA0003461189610000072
calculating the rigidity of all units in sequence to obtain the distribution rule of the rigidity of the units without damaging the structure; processing the vibration image of the damage structure in a non-contact manner to obtain dynamic displacement information of the damage structure, and repeating the steps to obtain the unit rigidity between the measuring point i and the measuring point i +1 of the damage structure
Figure BDA0003461189610000073
Setting the unit rigidity loss rate as beta, then
Figure BDA0003461189610000074
Therefore, the damaged structural unit stiffness loss ratio can be obtained as follows:
Figure BDA0003461189610000075
wherein:
Figure BDA0003461189610000076
respectively obtaining vibration mode values of the r-th order mass normalized vibration mode of the damage structure at measuring points i-1, i, i +1 and i + 2;
Figure BDA0003461189610000077
normalizing the vibration mode value of the vibration mode at the measuring point j for the nth order mass of the damaged structure;
Figure BDA0003461189610000078
vibration circle frequency for damaged structures;
and the displacement responses of all the measuring points are processed in sequence, so that the rigidity damage condition of each unit can be obtained, and key data support can be provided for the structure operation and maintenance.
The invention provides a structural state non-contact type diagnosis system based on visual perception, which adopts the structural state non-contact type diagnosis method based on visual perception.
Example 2
With reference to fig. 2 to 8, a simple beam case is used to describe a specific implementation process of the structural unit stiffness distribution and damage state non-contact diagnosis based on visual perception in this embodiment, which includes the following specific steps:
acquiring vibration image data: the vibration image sequence (as shown in figure 2) of the engineering structure under the external load is shot by an industrial camera fixed on a tripod and a tripod head, and in order to ensure that the vibration information of the whole field of the large-scale structure is covered, the vibration image sequence can be shot in regions by adopting a mobile vision measurement mode.
Measuring structural vibration displacement: based on images shot by an unmanned aerial vehicle-mounted camera, vibration image data of the structure are processed by using image registration algorithms such as feature point matching, area template matching, edge line detection and the like, and dynamic displacement extraction of a plurality of measuring points of the structure is realized.
Basic modal parameter identification: after vibration displacement information of the measuring points with dense structures is obtained, basic modal parameters such as natural frequency, damping ratio and displacement mode of the structures can be obtained by using a covariance driven random subspace method. For the simple beam structure (as shown in fig. 3) of the present invention, the first 3 orders of natural frequencies identified by the stochastic subspace method are 10.06Hz, 40.32Hz and 90.77Hz, respectively, and the first 3 orders of displacement mode shapes of the identified structure are shown in fig. 4. The displacement vibration mode identified by the random subspace method is normalized by utilizing the established finite element model, the modal compliance matrix of the structure can be calculated by utilizing the mass normalized vibration mode and the natural circle frequency, 1N virtual node loads act on all measuring points of the structure, the static displacement of the structure under the loads can be obtained, and further the unit rigidity distribution rule of the damage-free structure is obtained as shown in figure 5, the situation that the rigidity distribution rule of the identified unit is consistent with the real value result and the relative error is less than 5 percent is shown, and the accuracy of identifying the rigidity of the structural unit by the method is verified. Repeating the above steps can obtain the unit rigidity distribution rule of the damaged structure (as shown in fig. 6), and the rigidity of the 5 th unit is reduced, which shows that the unit is damaged, in order to quantify the damage degree. The damage degree recognition results in the case of a single damage calculated using the unit stiffness distribution results of the structures before and after the damage are shown in fig. 7 and 8, and it can be seen that the damages of different damage degrees can be recognized. The method also has the capacity of identifying double damage and multiple damage of the structure, and the damage identification result of the simply supported beam is shown in figures 9 and 10.
The present invention and its embodiments have been described above schematically, without limitation, and what is shown in the drawings is only one of the embodiments of the present invention, and the actual structure is not limited thereto. Therefore, if the person skilled in the art receives the teaching, without departing from the spirit of the invention, the person skilled in the art shall not inventively design the similar structural modes and embodiments to the technical solution, but shall fall within the scope of the invention.

Claims (5)

1. A structural state non-contact diagnosis method based on visual perception is characterized in that: the method comprises the following steps:
s1, acquiring a structural vibration image based on visual imaging and extracting multi-point dynamic displacement;
s2, identifying structural modal compliance parameters based on non-contact measurement displacement;
and S3, positioning and quantitatively identifying the structural unit rigidity distribution and the structural damage.
2. The method for non-contact diagnosis of structural state based on visual perception according to claim 1, characterized in that: in step S1, the specific steps are:
1) collecting vibration image data of the structure in an operating state by using visual imaging equipment;
2) extracting vibration displacement: and processing the vibration image data of the structure by using a characteristic point matching, region template matching and edge straight line detection image registration algorithm, and realizing the simultaneous extraction of the dynamic displacement of a plurality of measuring points of the structure.
3. The method for non-contact diagnosis of structural state based on visual perception according to claim 2, characterized in that: in step S2, the specific method is: calculating a correlation function of the displacement of two adjacent points of the structure measured in a non-contact manner, performing Fourier transform to obtain a non-scaling frequency response function matrix of the structure, and identifying the inherent frequency and the displacement mode of the structure by using a modal parameter identification algorithm; extracting a mass distribution matrix of the structure by using the established structure finite element model, and normalizing the identified displacement vibration mode to obtain a structure mass normalized vibration mode; then, the natural frequency and the mass normalized mode are subjected to correlation calculation, so that the modal compliance coefficient of the structure is obtained:
Figure FDA0003461189600000011
wherein:
Figure FDA0003461189600000012
representing the displacement of the structure before damage generated by acting on a unit force measuring point i at the measuring point j;
Figure FDA0003461189600000013
the vibration mode value of the r-th order mass normalized vibration mode at a measuring point i is an undamaged structure;
Figure FDA0003461189600000014
natural circular frequency of undamaged structure; n is the identified modal order.
4. The method of claim 3, wherein the method comprises the following steps: in step S3, the specific method is: multiplying a matrix formed by the identification flexibility coefficients of the undamaged structure by the virtual static load acting on the structure, and calculating to obtain the displacement of the structure under the static load, namely:
Figure FDA0003461189600000021
wherein:
Figure FDA0003461189600000022
the displacement of the measuring point i of the undamaged structure under the static load; n is the total number of the measuring points; fiThe static load acting on the measuring point i;
according to the Taylor expansion formula, the corner displacement at the positions of the measuring points i and i +1 can be obtained:
Figure FDA0003461189600000023
Figure FDA0003461189600000024
wherein: thetaiAnd thetai+1Respectively measuring the corner displacement of the point i, i + 1;
Figure FDA0003461189600000025
vertical displacement of the nondestructive structure measuring points i-1, i, i +1 and i +2 is measured; lmThe distance between two adjacent measuring points is obtained;
Figure FDA0003461189600000026
and
Figure FDA0003461189600000027
respectively obtaining vibration mode values of the r-order mass normalized vibration mode of the nondestructive structure at measuring points i-1, i +1 and i + 2;
thereby obtaining the average strain of the unit between the measuring point i and the measuring point i +1
Figure FDA0003461189600000028
Comprises the following steps:
Figure FDA0003461189600000029
wherein: h ismFor testing the neutrality of the cross-section of the structureShaft height;
and (3) applying static load q on all measuring points of the undamaged structure, wherein the bending moment load applied to the unit between the measuring point i and the measuring point i +1 is as follows:
Figure FDA00034611896000000210
thus, it can be found that the cell stiffness between the measurement point i and the measurement point i +1 is:
Figure FDA0003461189600000031
calculating the rigidity of all units in sequence to obtain the distribution rule of the rigidity of the units without damaging the structure; processing the vibration image of the damage structure in a non-contact manner to obtain dynamic displacement information of the damage structure, and repeating the steps to obtain the unit rigidity between the measuring point i and the measuring point i +1 of the damage structure
Figure FDA0003461189600000032
Setting the unit rigidity loss rate to be beta, then
Figure FDA0003461189600000033
Therefore, the damaged structural unit stiffness loss ratio can be obtained as follows:
Figure FDA0003461189600000034
wherein:
Figure FDA0003461189600000035
respectively obtaining vibration mode values of the r-th order mass normalized vibration mode of the damage structure at measuring points i-1, i, i +1 and i + 2;
Figure FDA0003461189600000036
the r-th order substance of damaged structureMeasuring the vibration mode value of the normalized vibration mode at a measuring point j;
Figure FDA0003461189600000037
vibration circle frequency for damaged structures;
and the displacement responses of all the measuring points are processed in sequence, so that the rigidity damage condition of each unit can be obtained, and key data support can be provided for the structure operation and maintenance.
5. A system for non-contact diagnosis of structural states based on visual perception, comprising: which employs a method for non-contact diagnosis of structural states based on visual perception according to any one of claims 1 to 4.
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