CN114509018A - Full-field real-time bridge deflection measurement method - Google Patents

Full-field real-time bridge deflection measurement method Download PDF

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CN114509018A
CN114509018A CN202210293063.5A CN202210293063A CN114509018A CN 114509018 A CN114509018 A CN 114509018A CN 202210293063 A CN202210293063 A CN 202210293063A CN 114509018 A CN114509018 A CN 114509018A
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田垄
杨建斌
章鼎
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China University of Geosciences Beijing
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/16—Measuring arrangements characterised by the use of optical techniques for measuring the deformation in a solid, e.g. optical strain gauge
    • 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
    • G01M5/0008—Investigating the elasticity of structures, e.g. deflection of bridges or air-craft wings of bridges
    • 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
    • G01M5/0041—Investigating the elasticity of structures, e.g. deflection of bridges or air-craft wings by determining deflection or stress
    • G01M5/005—Investigating the elasticity of structures, e.g. deflection of bridges or air-craft wings by determining deflection or stress by means of external apparatus, e.g. test benches or portable test systems

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Abstract

The invention provides a full-field real-time bridge deflection measuring method, which comprises the following steps: measurement preparation, full-field scale factor determination, image acquisition, full-field image displacement calculation and full-field deflection calculation. According to the technical scheme, under the condition of oblique optical axis imaging of the camera (namely imaging near-large-far-small effect), the calibration coefficient (about million points) from image displacement to actual deflection/displacement of each pixel point in the image is calculated respectively, high-precision image matching (million points are matched and calculated in real time) is rapidly achieved, and therefore full-field bridge deflection is calculated in real time.

Description

Full-field real-time bridge deflection measurement method
Technical Field
The invention relates to the technical field of bridge detection, in particular to a full-field real-time bridge deflection measuring method.
Background
The bridge deflection detection method based on machine vision mainly comprises three steps: 1) calculating the proportional relation from the image displacement to the actual deflection/displacement; 2) comparing the images before and after deformation, and calculating pixel displacement in the deformed images; 3) and finally calculating the actual deflection/displacement by combining the relation between the proportional coefficient and the image displacement.
The existing common bridge deflection detection technology based on machine vision is mainly divided into two types: 1) the single-point detection technology is that only one point to be detected is in the field of view of the camera. This method is easier to implement because there is only one point to be measured, the field of view can be adjusted to be very small (typically less than 2 cm), and since the field of view is small enough, the proportionality coefficient of each point in the field of view from image displacement to actual deflection/displacement can be approximately considered to be the same. And because the field of view is small enough, when the bridge deforms, the image displacement is certain to be large, and the image pixel displacement can be extracted by using a plurality of image processing methods. 2) The multi-point detection technology is characterized in that a plurality of points to be detected are simultaneously in a camera view field. Due to the explosive development of digital image correlation techniques, multi-point measurement techniques are emerging as advanced measurement methods in recent years. When multi-point measurement is carried out, because a plurality of measurement points are required to be shot simultaneously, the field of view of a camera is large, and shot objects are large and small, so that two key problems are involved: calculating the proportion/calibration coefficient of different measuring points, and matching and calculating the displacement (less than 1 pixel) of a small image. For the calibration problem, the solution in the existing document is to apply auxiliary devices such as an inclinometer and a distance measuring machine, measure specific auxiliary parameters for each measurement point, and then calculate the proportionality coefficient of each measurement point in sequence. Aiming at the matching problem, a high-precision digital image matching algorithm is applied to each measuring point, and the image displacement of each measuring point can be measured in sequence.
At present, the prior art has the following defects or shortcomings:
(1) the existing single-point detection technology has the defects that the field range is very small, the focal length of a lens is very large, the camera is difficult to focus, and an experienced operator is needed to debug the equipment during field measurement. Generally, when a large building such as a bridge is subjected to deflection measurement, a plurality of points or the whole surface needs to be detected simultaneously, and such a device based on a single-point detection technology requires a plurality of devices to be erected simultaneously, which is difficult to erect and requires a plurality of operators, and different devices cannot achieve absolute synchronization of data, so that it is difficult to analyze the overall deformation tendency of the large structure such as the bridge as a whole.
(2) The conventional multi-point detection technology generally refers to a limited number of measurement points at several key positions (for example, 1/4 span, 3/4 span positions on a measurement bridge). With the advent of the big data era, the existing detection requirements are difficult to meet only with data of a few key positions. If the multipoint detection technology is directly used for real-time measurement of the full-field deflection of the bridge, two defects which cannot be made up are mainly overcome. The method comprises the following steps: regarding calibration. The optical center of the camera and the measured point on the bridge generally form oblique optical axis imaging, namely the bridge imaged in the camera has the effect of large and small distances, and each pixel point has different proportionality coefficients converted from pixel displacement to actual deflection/displacement. The classical single-point calibration scheme needs to measure the distance from each point to be measured to the optical center of a camera, measure the vertical included angle from the point to the horizontal ground by using an inclinometer, and then use the auxiliary parameters to calculate the specific proportionality coefficient of each point to be measured. In the full-field measurement, it is assumed that the resolution of the camera is 500 ten thousand pixels, the bridge plane to be measured occupies 1/3, i.e. about 167 ten thousand pixels, and it is impractical to measure the distance and angle of the 167 ten thousand points to be measured respectively. And (2) shortage two: regarding the matching. The deflection measurement of the bridge has the advantages of practical effectiveness and need of real-time in-situ measurement. The matching algorithm of the images before and after deformation in the multi-point detection technology can realize high-precision matching by generally using a relatively mature digital image correlation method. However, in a system based on the multi-point detection technology, there are often only a few points to be measured (generally, no more than 10 points), the calculation amount is not large, and real-time calculation can be realized, but in the previous example, the full-field matching needs to calculate about 167 ten thousand pixel points, where the full-field image matching algorithm needs to be optimized, so that a super-fast algorithm without loss of matching accuracy is realized.
The information disclosed in this background section is only for enhancement of understanding of the general background of the invention and should not be taken as an acknowledgement or any form of suggestion that this information forms the prior art already known to a person skilled in the art.
Disclosure of Invention
The invention aims to provide a full-field real-time bridge deflection measuring method, which is characterized in that under the condition of camera oblique optical axis imaging (namely imaging near-large-far-small effect), the calibration coefficient (about million points) from image displacement to actual deflection/displacement of each pixel point in an image is respectively calculated, high-precision image matching (million-point real-time matching calculation) is rapidly realized, and therefore the full-field bridge deflection is calculated in real time.
In order to achieve the purpose, the invention adopts the following technical scheme:
the invention provides a full-field real-time bridge deflection measuring method, which comprises the following steps:
s1: preparation of measurement: selecting a fixed-focus lens with a focal length suitable for measurement, installing a camera at a set position, and adjusting the focal length and the aperture of the lens to enable the camera to acquire a full-field image of the bridge to be measured;
s2: determining a full-field scale factor: firstly, an interesting belt on a bridge is appointed, a laser range finder is used for measuring the distance from a plurality of points on the bridge to a camera, then the distance from each measuring point on the interesting belt to the camera is deduced according to the geometric relation of the points on the surface of the bridge, and finally all scale factors on the interesting belt are calculated by utilizing an oblique optical axis single-point calibration method;
s3: image acquisition: acquiring images before and after the deformation of the bridge in the loading process;
s4: full-field image displacement calculation: calculating the image displacement of each corresponding pixel on the bridge interest zone by using a rapid digital image correlation algorithm matching analysis;
s5: and (3) calculating the full-field deflection: the image displacement of each point on the strip of interest and its scaling factor are converted to its actual deflection/displacement.
Preferably, in step S2, the distances from at least three points on the bridge to the camera are measured with a laser rangefinder.
Preferably, in step S2, the calculation formula for calculating all the scale factors in the band of interest by using the oblique-axis single-point calibration method is as follows:
Figure BDA0003562230360000041
in the formula: l is the distance from the single point to be measured to the optical center of the camera, KSFIs a proportionality coefficient from image pixel displacement to actual physical displacement, x is the abscissa of the point to be measured in the image, xcIs the horizontal coordinate position of the center of the image, y is the vertical coordinate of the point to be measured in the image, ycIs the image center ordinate position,/psIs the physical size of the pixel of the camera, f is the focal length of the lens, and beta is the vertical included angle between the camera and the horizontal ground.
Preferably, the distance L from the single point to be measured to the optical center of the camera is calculated as follows:
respectively establishing a world coordinate system OcAnd an image coordinate system o, firstly selecting a series of identification points P on the strip-shaped area to be detectednAnd acquiring pixel points p corresponding to the identification points on the image acquired by the cameranTo obtain the image coordinates (x) thereofi,yi) Transforming the image coordinate into three-dimensional coordinate p in the image coordinate systemi′((xi-x0)lps,(yi-y0)lpsF) wherein (x)0,y0) As the image center coordinates,/psIs the actual physical size of a single pixel, and f is the camera focal length; measuring the distance L between each calibration point and the optical center of the camera by using a laser range finderiThen the magnification M from the image three-dimensional coordinate to the world three-dimensional coordinate of the selected identification pointiCan be calculated by the following formula:
Figure BDA0003562230360000042
according to the principle of similar triangles, the three-dimensional world coordinates of each identification point in the world coordinate system can be expressed as follows:
Pi＝p′i·Mi
in order to obtain the amplification factor M of all points on the region to be measured, a three-dimensional space linear equation of the measured banded region is approximately fitted in a world coordinate system, and the expression is set as follows:
Figure BDA0003562230360000051
wherein (x)b,yb,zb) The mean value of the coordinates of all the selected identification points; (d)1,d2,d3) The direction vector of the space three-dimensional straight line is shown; in order to obtain unknown direction vectors in the equation, calculating by adopting a singular value decomposition method;
after obtaining the space equation of the surface of the bridge to be measured, the distance L from any point Q (image coordinate Q (x, y)) on the bridge to the optical center of the camera can be obtainedQ(ii) a The three-dimensional coordinates of the point in the world coordinate system are:
Q＝((x-x0)lps，(y-y0)lps，f)·M
the M can be solved by substituting the linear equation into the linear equationQThen, the world coordinates of point Q can be calculated, then:
Figure BDA0003562230360000052
preferably, the calculation method using singular value decomposition specifically includes: after singular value decomposition is carried out on a matrix formed by the standardized coordinates of all the points, the left singular vector corresponding to the maximum singular value is the direction vector.
By adopting the technical scheme, the invention has the following beneficial effects:
1) the use is simple: the main part is a camera, the view field is large, distribution and control installation of each measurement is not needed, and visibility and measurement can be realized.
2) Full field measurement: each pixel point in the image collected by the camera can be accurately calibrated under the condition of not using auxiliary equipment, namely all the pixel points can be converted into actual displacement/deflection.
3) And (3) real-time measurement: the high-efficiency and steady initial value transmission strategy ensures the speed of accurate image matching operation of mass data.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is an overall flow chart of the full-field real-time bridge deflection measuring method of the present invention;
FIG. 2 is a schematic diagram of the present invention for calculating the distance L from each measurement point to the optical center of the camera;
FIG. 3 is a flow chart of an initial parameter delivery strategy according to the present invention.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The following detailed description of embodiments of the invention refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present invention, are given by way of illustration and explanation only, not limitation.
Referring to fig. 1, the invention provides a full-field real-time bridge deflection measuring method, which comprises the following steps:
s1: preparation of measurement: selecting a fixed-focus lens with a focal length suitable for measurement, installing the camera 3 at a set position, and adjusting the focal length and the aperture of the lens to enable the camera 3 to acquire a full-field image of the bridge to be measured;
s2: determining a full-field scale factor: firstly, an interesting belt on a bridge 1 is appointed, a laser range finder 2 is used for measuring the distance from a plurality of points on the bridge to a camera 3, then the distance from each measuring point on the interesting belt to the camera 3 is deduced according to the geometric relation of the points on the surface of the bridge 1, and finally all scale factors on the interesting belt are calculated by utilizing an oblique optical axis single-point calibration method;
s3: image acquisition: acquiring images before and after the deformation of the bridge in the loading process;
s4: full-field image displacement calculation: using a rapid digital image correlation algorithm to carry out matching analysis to calculate the image displacement of each corresponding pixel on the bridge interesting belt;
s5: and (3) calculating the full-field deflection: the image displacement of each point on the strip of interest and its scaling factor are converted to its actual deflection/displacement. The computer 4 is used for processing the data measured by the laser range finder 2, obtaining the distance from any point on a target straight line to the target surface of the camera 3 through straight line fitting, simultaneously processing the image data collected by the camera 3, and obtaining the deflection information of any point by using a single-point calibration method.
Preferably, in step S2, the distances from at least three points on the bridge to the camera are measured with a laser rangefinder.
Preferably, in step S2, the calculation formula for calculating all the scale factors in the band of interest by using the tilted optical axis single point calibration method is as follows:
Figure BDA0003562230360000071
in the formula: l is the distance from the single point to be measured to the optical center of the camera, KSFIs a proportionality coefficient from image pixel displacement to actual physical displacement, x is the abscissa of the point to be measured in the image, xcIs the horizontal coordinate position of the center of the image, y is the vertical coordinate of the point to be measured in the image, ycIs the image center ordinate position,/psIs the physical size of the pixel of the camera, f is the focal length of the lens, and beta is the vertical included angle between the camera and the horizontal ground.
Preferably, the distance L from the single point to be measured to the optical center of the camera is calculated as follows:
with reference to FIG. 2, a world coordinate system O is respectively establishedcAnd an image coordinate system o, firstly selecting a series of marks on the strip-shaped area to be measuredPoint PnAnd acquiring pixel points p corresponding to the identification points on the image acquired by the cameranTo obtain the image coordinates (x) thereofi,yi) Transforming the image coordinate into three-dimensional coordinate p in the image coordinate systemi′((xi-x0)lps,(yi-y0)lpsF) wherein (x)0,y0) As the image center coordinates,/psIs the actual physical size of a single pixel, and f is the camera focal length; measuring the distance L between each calibration point and the optical center of the camera by using a laser range finderiThen the magnification M from the image three-dimensional coordinate to the world three-dimensional coordinate of the selected identification pointiCan be calculated by the following formula:
Figure BDA0003562230360000081
according to the principle of similar triangles, the three-dimensional world coordinates of each identification point in the world coordinate system can be expressed as follows:
Pi＝p′i·Mi
in order to obtain the amplification factor M of all points on the region to be measured, a three-dimensional space linear equation of the measured banded region is approximately fitted in a world coordinate system, and the expression is set as follows:
Figure BDA0003562230360000082
wherein (x)b,yb,zb) The mean value of the coordinates of all the selected identification points; (d)1,d2,d3) The direction vector of the space three-dimensional straight line is shown; in order to obtain unknown direction vectors in the equation, calculating by adopting a singular value decomposition method;
after obtaining the space equation of the surface of the bridge to be measured, the distance L from any point Q (image coordinate Q (x, y)) on the bridge to the optical center of the camera can be obtainedQ(ii) a The three-dimensional coordinates of the point in the world coordinate system are:
Q＝((x-x0)lps，(y-y0)lps，f)·M
the M can be solved by substituting the linear equation into theQThen, the world coordinates of point Q can be calculated, then:
Figure BDA0003562230360000083
preferably, the calculation method using singular value decomposition specifically includes: after singular value decomposition is carried out on a matrix formed by the standardized coordinates of all the points, the left singular vector corresponding to the maximum singular value is the direction vector.
In conjunction with fig. 3, a classical high-precision Digital Image Correlation (DIC) method can perform real-time high-precision matching on each measurement point individually. The core of the method is a numerical method for iterative solution, namely, the more accurate the initial value is, the fewer the iteration times are, and the faster the calculation is. The invention provides an initial value transmission scheme which accords with the actual full-field deflection measurement according to the characteristics of the real-time full-field deflection measurement.
Firstly, selecting a plurality of points with high average gray gradient from a region to be measured of an image as calculation seed points; then, the exact match calculates the initial displacement of these seed points in the reference image and the deformed first image (i.e., the first two frames). After obtaining the initial displacement of the seed points, the initial displacements of the remaining computation points except the seed points can be obtained from their neighbors according to the classical DIC scheme. And finally, for subsequent images except for the first two frames, the initial displacement value of each point is determined by directly adopting the displacements obtained in the first two images. By using the method of motion estimation, the initial displacement is transmitted in time sequence, and the initial estimation required by the fast matching calculation of each point can be effectively and reliably obtained. In most cases, this approach is very robust and efficient. The initial parameter delivery policy is described in figure 3.
In real-time deflection measurement, the acquisition time interval between two adjacent frames of images is very short. Thus, the displacement of the corresponding points in the three adjacent image frames can be approximately seen as a linear function with respect to time. One point in the (n-2) th frame and the (n-1) th frame imageIs represented by (u)n-2,vn-2) And (u)n-1,vn-1) The displacement (u) of the same point in the nth framen,vn) It can be approximated as:
Figure BDA0003562230360000091
finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.

Claims (5)

1. A full-field real-time bridge deflection measurement method is characterized by comprising the following steps:
s1: preparation of measurement: selecting a fixed-focus lens with a focal length suitable for measurement, installing a camera at a set position, and adjusting the focal length and the aperture of the lens to enable the camera to acquire a full-field image of the bridge to be measured;
s2: determining a full-field scale factor: firstly, an interesting belt on a bridge is appointed, a laser range finder is used for measuring the distance from a plurality of points on the bridge to a camera, then the distance from each measuring point on the interesting belt to the camera is deduced according to the geometric relation of the points on the surface of the bridge, and finally all scale factors on the interesting belt are calculated by utilizing an oblique optical axis single-point calibration method;
s3: image acquisition: acquiring images before and after the deformation of the bridge in the loading process;
s4: full-field image displacement calculation: calculating the image displacement of each corresponding pixel on the bridge interest zone by using a rapid digital image correlation algorithm matching analysis;
s5: and (3) calculating the full-field deflection: the image displacement of each point on the strip of interest and its scaling factor are converted to its actual deflection/displacement.
2. The full-field real-time bridge deflection measuring method according to claim 1, wherein in step S2, the distances from at least three points on the bridge to the camera are measured by a laser range finder.
3. The full-field real-time bridge deflection measurement method according to claim 1, wherein in step S2, the calculation formula for calculating all the scale factors on the interest zone by using the oblique optical axis single-point calibration method is as follows:
Figure FDA0003562230350000011
in the formula: l is the distance from the single point to be measured to the optical center of the camera, KSFIs a proportionality coefficient from image pixel displacement to actual physical displacement, x is the abscissa of the point to be measured in the image, xcIs the horizontal coordinate position of the center of the image, y is the vertical coordinate of the point to be measured in the image, ycIs the image center ordinate position,/psIs the physical size of the pixel of the camera, f is the focal length of the lens, and beta is the vertical included angle between the camera and the horizontal ground.
4. The full-field real-time bridge deflection measurement method according to claim 3, wherein the distance L from the single point to be measured to the optical center of the camera is calculated as follows:
respectively establishing a world coordinate system OcAnd an image coordinate system o, firstly selecting a series of identification points P on the strip-shaped area to be detectednAnd acquiring pixel points p corresponding to the identification points on the image acquired by the cameranTo obtain the image coordinates (x) thereofi,yi) Transforming the image coordinate into three-dimensional coordinate p in the image coordinate systemi′((xi-x0)lps,(yi-y0)lpsF) wherein (x)0,y0) As the image center coordinates,/psAs a single pixelF is the camera focal length; measuring the distance L between each calibration point and the optical center of the camera by using a laser range finderiThen the magnification M from the image three-dimensional coordinate to the world three-dimensional coordinate of the selected identification pointiCan be calculated by the following formula:
Figure FDA0003562230350000021
according to the principle of similar triangles, the three-dimensional world coordinates of each identification point in the world coordinate system can be expressed as follows:
Pi＝p′i·Mi
in order to obtain the amplification factor M of all points on the region to be measured, a three-dimensional space linear equation of the measured banded region is approximately fitted in a world coordinate system, and the expression is set as follows:
Figure FDA0003562230350000022
wherein (x)b,yb,zb) The mean value of the coordinates of all the selected identification points; (d)1,d2,d3) The direction vector of the space three-dimensional straight line is shown; in order to obtain unknown direction vectors in the equation, calculating by adopting a singular value decomposition method;
after obtaining the space equation of the surface of the bridge to be measured, the distance L from any point Q (image coordinate Q (x, y)) on the bridge to the optical center of the camera can be obtainedQ(ii) a The three-dimensional coordinates of the point in the world coordinate system are:
Q＝((x-x0)lps，(y-y0)lps，f)·M
the M can be solved by substituting the linear equation into the linear equationQThen, the world coordinates of point Q can be calculated, then:
Figure FDA0003562230350000031
5. the full-field real-time bridge deflection measurement method according to claim 4, wherein the calculation method adopting singular value decomposition specifically comprises: after singular value decomposition is carried out on a matrix formed by the standardized coordinates of all the points, the left singular vector corresponding to the maximum singular value is the direction vector.
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