CN213986045U - Experimental analysis system for test piece strain in blasting process - Google Patents
Experimental analysis system for test piece strain in blasting process Download PDFInfo
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- CN213986045U CN213986045U CN201920499202.3U CN201920499202U CN213986045U CN 213986045 U CN213986045 U CN 213986045U CN 201920499202 U CN201920499202 U CN 201920499202U CN 213986045 U CN213986045 U CN 213986045U
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Abstract
The embodiment of the utility model discloses an experimental analysis system that is arranged in blasting in-process test piece to meet an emergency. The method relates to the technical field of blasting, and can be suitable for carrying out high-speed acquisition on three-dimensional images of a test piece at different moments in the blasting process. The method comprises the following steps: the system comprises a blasting experiment loading device, a synchronous control device, an image acquisition device and an image processing and analyzing device; the image acquisition device comprises a first camera set, a second camera set, a third camera set, a fourth camera set and a fifth camera set, wherein any camera set at least comprises a first visual angle camera, a second visual angle camera and a light supplement lamp, and the first visual angle camera, the second visual angle camera and the test piece are arranged in a triangular mode; the first camera set, the second camera set, the third camera set, the fourth camera set and the fifth camera set are arranged around the test piece in an annular array; the multiple camera groups respectively shoot the images of the test piece blasting process at different preset moments so as to achieve the purpose of high-speed shooting in a synergistic manner. The utility model is suitable for an in the theoretical research analysis scene to explosion technique.
Description
Technical Field
The utility model relates to a blasting technical field especially relates to an experimental analysis system that is arranged in blasting in-process test piece to meet an emergency.
Background
The drilling and blasting method is a method for excavating rocks by drilling, charging and blasting, and is more and more important for the analysis and research of a blasting dynamic process and an action mechanism thereof along with the rapid development and wide application of the drilling and blasting method in rock mining.
Utility model people are realizing the utility model discloses an in-process discovers: at present, in the field of blasting technology research, experimental research and analysis are generally performed on parameters such as strain of a test piece after blasting, and few test pieces are subjected to real-time research and analysis on the strain of the test piece in the blasting process, but in order to realize the real-time analysis and research on the strain in the blasting process, three-dimensional images of the test piece at different moments in the blasting process need to be acquired at high speed, so that the blasting process needs to be shot by means of an ultra-high speed camera (a camera with the shooting speed reaching tens of millions or even hundreds of millions of times per second), but the existing ultra-high speed camera meeting the requirements mainly depends on import and has extremely high cost.
SUMMERY OF THE UTILITY MODEL
In view of this, the embodiment of the utility model provides an experimental analysis system for blasting in-process test piece is met an emergency can be applicable to and carry out the high-speed collection of three-dimensional image to the test piece in the different states of blasting in-process at different moments, compares in the scheme that uses the hypervelocity camera to carry out the high-speed collection of image, and the cost is lower relatively to can realize carrying out analytical study to the meeting an emergency of the test piece in the blasting process, provide theoretical guidance for blasting engineering practice.
In order to achieve the above object, the embodiments of the present invention adopt the following technical solutions:
in a first aspect, an embodiment of the present invention provides an experimental analysis system for blasting in-process test piece is met an emergency, the experimental analysis system includes: the system comprises a blasting experiment loading device, a synchronous control device, an image acquisition device and an image processing and analyzing device;
the blasting experiment loading device is used for loading a test piece, and blast holes are prefabricated on the test piece;
the synchronization control device includes: one path of the signal trigger is connected with the image acquisition device, and the other path of the signal trigger is connected with a TNT explosive blasting fuse arranged in the blast hole through the pulse igniter;
the image acquisition device comprises a first camera set, a second camera set, a third camera set, a fourth camera set and a fifth camera set, any one of the first camera set, the second camera set, the third camera set, the fourth camera set and the fifth camera set at least comprises a first visual angle camera, a second visual angle camera and a light supplement lamp, and the first visual angle camera, the second visual angle camera and the test piece are arranged in a triangular mode;
the first camera set, the second camera set, the third camera set, the fourth camera set and the fifth camera set are arranged around the test piece in an annular array;
the first camera group is used for shooting a first blasting in-process image of the test piece at a first preset moment according to a first pulse control signal sent by the synchronous control device;
the second camera set is used for shooting a second blasting process image of the test piece at a second preset moment according to a second pulse control signal sent by the synchronous control device;
the third phase unit is used for shooting a third blasting process image of the test piece at a third preset moment according to a third pulse control signal sent by the synchronous control device;
the fourth camera set is used for shooting a fourth blasting process image of the test piece at a fourth preset moment according to a fourth pulse control signal sent by the synchronous control device;
the fifth camera group is used for shooting a fifth blasting process image of the test piece at a fifth preset moment according to a fifth pulse control signal sent by the synchronous control device; the first preset time, the second preset time, the third preset time, the fourth preset time and the fifth preset time are different, and the shooting speed of the first camera set, the second camera set, the third camera set, the fourth camera set and the fifth camera set is 200 pieces/second;
and the image processing and analyzing device is used for processing the images of the test piece in the blasting process at different preset moments, which are acquired by the image acquisition device, and analyzing the strain of the test piece in the blasting process based on the processed images.
Preferably, the first preset time is 1+5n, the second preset time is 2+5n, the third preset time is 3+5n, the fourth preset time is 4+5n, and the fifth preset time is 5+5 n; wherein n is not less than 0 and n is an integer.
Preferably, the blasting experiment loading device comprises a first support, a second support, a first clamping block arranged on the first support and a second clamping block arranged on the second support, wherein the first clamping block and the second clamping block are slidably arranged in the horizontal direction to adapt to clamping of test pieces with different sizes.
The embodiment of the utility model provides an experimental analysis system that is arranged in blasting in-process test piece to meet an emergency, include: the system comprises a blasting experiment loading device, a synchronous control device, an image acquisition device and an image processing and analyzing device; the method is characterized in that a plurality of camera sets are arranged on the periphery of a test piece on a blasting experiment loading device in an array mode, the detonation time and the shooting time sequence of the camera sets are controlled by a synchronous control device, each camera set is used for shooting images of the blasting process at different preset moments, the shooting speed of each camera set is 200 ten thousand per second, and therefore three-dimensional image ultrahigh-speed acquisition and collection of states of the test piece at different moments in the blasting process can be achieved through collaborative shooting of a plurality of groups of cameras.
Drawings
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, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic structural diagram of an embodiment of an experimental analysis system for specimen strain in blasting process of the present invention;
fig. 2 is a schematic diagram of an arrangement structure of a camera group for shooting states of a test piece at different times in a blasting process according to the embodiment of fig. 1;
fig. 3 is a schematic structural diagram of an embodiment of the blasting experiment loading device in fig. 1.
Detailed Description
The embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
It should be understood that the described embodiments are only some embodiments of the invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by a person of ordinary skill in the art without creative efforts belong to the protection scope of the present invention.
The embodiment of the utility model provides an experimental analysis system for blasting in-process test piece is met an emergency is applicable to and carries out theoretical research analysis to the blasting, can carry out hypervelocity image acquisition to the different test piece states constantly of blasting in-process to can realize the analysis to the test piece at the dynamic change process that meets an emergency of blasting in-process.
Fig. 1 is the utility model discloses an embodiment schematic structure diagram for experiment analysis system that blast in-process test piece is met an emergency, experiment analysis system includes: the system comprises a blasting experiment loading device 100, a synchronous control device 200, an image acquisition device 300 and an image processing and analyzing device 400.
The blasting experiment loading device 100 is used for loading a test piece, and blast holes are prefabricated on the test piece.
Referring to fig. 3, in an embodiment of the present invention, the blasting test loading apparatus 100 includes a first support 101, a second support 102, a first clamping block 103 disposed on the first support 101, and a second clamping block 104 disposed on the second support 102, and the positions of the first clamping block 103 and the second clamping block 104 can be adjusted in the horizontal direction to accommodate the clamping of test pieces 105 with different sizes.
The synchronization control device 200 includes: the signal trigger 201 and the pulse igniter 202, one path of the signal trigger 201 is connected with the image acquisition device 300, and the other path is connected with the TNT explosive blasting fuse installed in the blast hole through the pulse igniter 202 so as to detonate the explosive.
The image acquisition device 300 includes a first camera group 301, a second camera group 302, a third camera group 303, a fourth camera group 304, and a fifth camera group 305, any one of the first camera group 301, the second camera group 302, the third camera group 303, the fourth camera group 304, and the fifth camera group 305 at least includes a first view angle camera 3010, a second view angle camera 3011, and a light supplement lamp, and the first view angle camera 3010, the second view angle camera 3011 and the test piece are arranged in a triangle.
A first camera group 301, a second camera group 302, a third camera group 303, a fourth camera group 304, and a fifth camera group 305 are disposed around the test piece in an annular array.
The first camera group 301 is configured to shoot a first blasting-process image of the test piece at a first preset time according to a first pulse control signal sent by the synchronous control device.
The second camera set 302 is configured to shoot a second blasting process image of the test piece at a second preset time according to a second pulse control signal sent by the synchronous control device.
The third phase unit 303 is configured to shoot a third blasting process image of the test piece at a third preset time according to a third pulse control signal sent by the synchronous control device.
The fourth camera group 304 is configured to shoot a fourth blasting process image of the test piece at a fourth preset time according to a fourth pulse control signal sent by the synchronous control device.
The fifth camera group 305 is configured to capture a fifth blasting process image of the test piece at a fifth preset time according to a fifth pulse control signal sent by the synchronous control device.
The first preset time, the second preset time, the third preset time, the fourth preset time and the fifth preset time are different, and the shooting speed of the first camera set 301, the second camera set 302, the third camera set 303, the fourth camera set 304 and the fifth camera set 305 is 200 pieces/second; therefore, the five groups of cameras arranged around the test piece in the array can realize that the shooting speed reaches 1000 ten thousand per second at the ultra-high speed camera by respectively shooting images at different moments.
It can be understood, based on the utility model discloses an theory can also realize the fast-speed shooting image more through setting up more group's cameras.
And the image processing and analyzing device 400 is used for processing the images of the test piece in the blasting process at different preset moments, which are acquired by the image acquisition device, and analyzing the strain of the test piece in the blasting process based on the processed images.
The embodiment of the utility model provides an experimental analysis system that is arranged in blasting in-process test piece to meet an emergency, include: the system comprises a blasting experiment loading device, a synchronous control device, an image acquisition device and an image processing and analyzing device; the method is characterized in that a plurality of camera sets are arranged on the periphery of a test piece on a blasting experiment loading device in an array mode, the detonation time and the shooting time sequence of the camera sets are controlled by a synchronous control device, each camera set is used for shooting images of the blasting process at different preset moments, the shooting speed of each camera set is 200 ten thousand per second, and therefore three-dimensional image ultrahigh-speed acquisition and collection of states of the test piece at different moments in the blasting process can be achieved through collaborative shooting of a plurality of groups of cameras.
In another embodiment of the present invention, the first preset time is 1+5n, the second preset time is 2+5n, the third preset time is 3+5n, the fourth preset time is 4+5n, and the fifth preset time is 5+5 n; wherein n is not less than 0 and n is an integer.
For the clear explanation the embodiment of the utility model provides a technical scheme and effect thereof now combine to describe as follows the experimental scenario of carrying out the analysis to the meeting an emergency of the test piece at different moments in blasting process:
in order to study the strain changes of the test piece at different stages in the blasting process, the blasting process of the test piece needs to be subjected to ultra-high-speed shooting, an ultra-high-speed camera can be directly selected, and the cost is high.
By adopting the experimental analysis system of the embodiment of the present invention, referring to fig. 1 and 2, a plurality of camera sets, for example, 5 camera sets are arranged around the explosion loading experimental apparatus, each camera set uses two general cameras to shoot the test piece at different angles during the explosion process, but the shooting speed of each camera set is relatively low, and is selected to be 200 pieces/second, each camera set is controlled by the synchronous control device to shoot according to the predetermined time sequence, that is, different camera sets shoot images at different preset moments according to different trigger shooting moments, for example, the first camera set shoots the 1 st, 6 th, 11 th, 16 th second … … th, the second camera set shoots the 2 nd, 7 th, 12 th, 7 th second … … th, the third camera set shoots the 3 rd, 8 th, 13 th, 18 th … … th, the fourth camera set shoots the 4 th, 9 th, 14 th, 19 th … … th, and the fifth camera set shoots the 5 th, 10. 15, 20 seconds … …. Therefore, the 1 st, 2 nd, 3 rd, 4 th, 5 th, 6 th and 7 th seconds … … can be shot by the multi-camera in a coordinated mode, the purpose of shooting images at a high speed by the low-speed camera is achieved, super-high-speed image acquisition can be achieved when the number of camera sets is large enough, compared with a scheme of directly using the super-high-speed camera to conduct image high-speed acquisition, the cost is relatively low, strain analysis research on the test piece blasting process can be achieved, and theoretical guidance is provided for blasting engineering practice.
Example two
The utility model discloses the embodiment provides an experimental analysis method that is arranged in blasting in-process test piece to meet an emergency, is based on the utility model creation that the experimental analysis system that embodiment one provided made, can be applicable to and carry out the analytical study to the meeting an emergency of test piece blasting in-process, provides theoretical guidance for blasting engineering practice.
The method comprises the following steps: and (4) clamping and fixing a test piece prefabricated with a blast hole on the blasting experimental device.
Placing a explosive package into the blast hole of the test piece; connecting the detonating cord of the explosive package to a pulse igniter of a synchronous control device; and connecting a signal trigger of the synchronous control device with a switch of the light supplement lamp.
And sending a trigger signal to the light supplement lamp through the signal trigger, and enabling the light supplement lamp to be started and to last for a first preset time period so as to enable the illumination brightness of the light supplement lamp to reach a preset requirement.
When the illumination brightness of the light supplement lamp is monitored to meet the preset requirement, triggering a first camera set, a second camera set, a third camera set, a fourth camera set and a fifth camera set to shoot images according to the preset shooting time; the first camera group, the second camera group, the third camera group, the fourth camera group and the fifth camera group at least comprise a first visual angle camera and a second visual angle camera.
And sending a pulse ignition signal to the pulse igniter through the signal trigger at a second preset time after the shooting of the first camera set, the second camera set, the third camera set, the fourth camera set and the fifth camera set is triggered, so that the pulse igniter detonates the explosive.
The method comprises the steps that a first camera group shoots a first blasting process image of a test piece at a first preset moment; the second camera set shoots a second blasting process image of the test piece at a second preset moment; the third camera set shoots a third blasting process image of the test piece at a third preset moment; shooting a fourth blasting process image of the test piece at a fourth preset moment by a fourth camera set; a fifth camera group shoots a fifth blasting process image of the test piece at a fifth preset moment; so that the plurality of camera groups can cooperatively realize the ultrahigh-speed shooting of the image of the test piece blasting process.
The first preset time, the second preset time, the third preset time, the fourth preset time and the fifth preset time are different; preferably, the first preset time is 1+5n, the second preset time is 2+5n, the third preset time is 3+5n, the fourth preset time is 4+5n, and the fifth preset time is 5+5 n; wherein n is not less than 0 and is an integer; the time is in seconds. The ultra-high speed shooting speed is 1000 ten thousand per second.
The images of the first blasting process, the second blasting process, the third blasting process, the fourth blasting process and the fifth blasting process of the test piece, which are respectively shot by the camera set, are sent to an image processing and analyzing device; and the image processing and analyzing device processes the image and analyzes the strain of the test piece in the blasting process based on the processed image.
The embodiment of the utility model provides an experimental analysis method for blasting in-process test piece is met an emergency, include: the method is characterized in that a plurality of camera sets are arranged on the periphery of a test piece on a blasting experiment loading device in an array mode, the detonation time and the shooting time sequence of the camera sets are controlled by a synchronous control device, each camera set is used for shooting images of the blasting process at different preset moments, the shooting speed of each camera set is 200 ten thousand per second, and therefore three-dimensional image ultrahigh-speed acquisition and collection of states of the test piece at different moments in the blasting process can be achieved through collaborative shooting of a plurality of groups of cameras.
The utility model discloses an embodiment, image processing analytical equipment is right the image is handled to the image based on after handling the image to carry out the analysis including to the test piece strain in the blasting process:
constructing a three-dimensional image of the test piece in the first blasting process based on images of the test piece in different angles, which are respectively shot by a first visual angle camera and a second visual angle camera of the first group of cameras; constructing a three-dimensional image of the test piece in the second blasting process based on images of the test piece in different angles, which are respectively shot by a first visual angle camera and a second visual angle camera of a second group of cameras; constructing a three-dimensional image of the test piece in the third blasting process based on images of the test piece in different angles, which are respectively shot by a first visual angle camera and a second visual angle camera of the third group of cameras; constructing a three-dimensional image of the test piece in a fourth blasting process based on images of the test piece in different angles, which are respectively shot by a first visual angle camera and a second visual angle camera of a fourth group of cameras; and constructing a three-dimensional image of the test piece in the fifth blasting process based on images of the test piece in different angles, which are respectively shot by the first visual angle camera and the second visual angle camera of the fifth group of cameras, in the blasting process.
Analyzing the strain of the test piece in the blasting process at a first preset moment based on the constructed three-dimensional image of the first blasting process; analyzing the strain of the test piece in the blasting process at a second preset moment based on the constructed three-dimensional image of the second blasting process; analyzing the strain of the test piece in the blasting process at a third preset moment based on the constructed three-dimensional image of the third blasting process; analyzing the strain of the test piece in the blasting process at a fourth preset moment based on the constructed three-dimensional image of the fourth blasting process; and analyzing the strain of the test piece in the blasting process at the fifth preset moment based on the constructed three-dimensional image of the fifth blasting process.
In this embodiment, the blasting process images of the test piece at different times and captured by each camera set are reconstructed into three-dimensional images, and stress and strain analysis software, for example, Matalab software, may be used to analyze the strain of the test piece based on the reconstructed three-dimensional images, so as to more intuitively see the stress or strain conditions of the test piece at different times in the blasting process from the three-dimensional images.
In another embodiment of the present invention, the image of the test piece blasting process at different angles based on the first visual angle camera and the second visual angle camera of the first set of cameras respectively shooting includes:
acquiring a first imaging point coordinate of a first sub-area on the test piece in a first blasting process image shot by a first visual angle camera; the first sub-area is an object for calculating and analyzing the strain of the test piece, is an area on the test piece and comprises a point set, and if the whole area is analyzed, one point needs to be calculated first.
According to the epipolar constraint formula pr TFplDetermining a second imaging point coordinate corresponding to the first imaging point coordinate in a first blasting process image shot by a second visual angle camera as 0; the first imaging point coordinate and the second imaging point coordinate are corresponding coordinate points of the same point in a first sub-area on the test piece in different images; wherein, PrIs a homogeneous coordinate of the first imaging point coordinate, PlHomogeneous coordinates which are coordinates of the second imaging point;
f is the basis matrix and the basic matrix,
wherein A isrIs a first view angle camera internal reference, AlIs the internal reference of the camera with the second visual angle, and the external reference of the camera: r is the rotation matrix between two cameras, T is the representation symbol of the transformation matrix, TxIs the translation vector in the x-direction, tyIs the translation vector in the y-direction; t is tsIs a translation vector in a direction; s is derived from the translation vector transformation of the two cameras.
The camera calibration method comprises the following steps that internal parameters of a first visual angle camera and external parameters of a second visual angle camera can be obtained through camera calibration, and a traditional camera calibration method and a self-calibration method based on active vision can be used as the camera calibration method; since the camera calibration method is the prior art in the technical field of machine vision measurement, it is not described again.
Determining the three-dimensional space coordinate of a corresponding point in a first sub-area on the test piece based on the obtained first imaging point coordinate and the second imaging point coordinate; therefore, one point in the first sub-area of the test piece shoots corresponding imaging points in images with different visual angles through two cameras with a certain included angle, and the three-dimensional coordinates of the corresponding points can be obtained according to the imaging coordinates of the two corresponding points shot by the first visual angle camera and the second visual angle camera.
Repeating the steps to obtain a group of discrete three-dimensional coordinates formed by all points in the first sub-area on the test piece;
and constructing a three-dimensional image of the first sub-area of the test piece in the blasting process at the first preset moment by adopting an interpolation or curve fitting algorithm.
Specifically, the determining the three-dimensional space coordinate of a corresponding point in the first sub-area on the test piece based on the obtained first imaging point coordinate and the second imaging point coordinate includes: acquiring focal lengths of a first visual angle camera and a second visual angle camera; based on the obtained first imaging point coordinate, the second imaging point coordinate and the focal length;
according to the formula
Calculating the three-dimensional space coordinates of the corresponding points;
wherein a rotation matrix between two cameras
And translation vector
The rotation matrix and the translation vector become external parameters of the camera and can be obtained through camera calibration.
The utility model discloses an in the embodiment, camera is markd and can be gone on based on plane standard template, shoots a calibration board that has known size figure at the multiple image of equidirectional not with the camera, through the image coordinate who obtains the characteristic point and its three-dimensional space coordinate, can calculate the inside and outside parameter of camera.
Specifically, the method for calculating the internal and external parameters of the camera may include the steps of:
s10 solving homography matrix
In order to facilitate understanding of the technical solution of the present embodiment for obtaining the internal and external parameters of the camera by using the camera calibration, the terms are explained as follows: homography matrix: representing the mapping relation from the space point to the imaging point; selecting any space point P on the standard template of the camera, and setting the homogeneous coordinate as M ═ Xw，Yw，Zw，1)TThe homogeneous coordinate of the pixel of an imaging point p on an image plane is m ═ (u, v, 1)T。
Lifting from standard template of cameraTaking n characteristic points d, and respectively substituting into a formula 1-1:
in this case, n relational expressions of 1 to 1 are obtained, and all the expressions are combined to obtain Lh equal to 0, where L is a coefficient matrix of 2n × 9. When the number n of the characteristic points is more than 4, the Lh is 0, which is an overdetermined equation set, the optimal solution of the equation set can be calculated by using a Singular Value Decomposition (SVD) method, and then the homography matrix H is obtained,
and S20, calculating internal and external parameters of the single-phase machine.
The method comprises the following specific steps: by using hiThe ith column vector representing the matrix H, i.e. H ═ H1 h2 h3]Let [ h ]1 h2 h3]＝λA[r1 r2t]；
It will be appreciated that since the rotation matrix is an orthogonal matrix, the scalar product of any two column vectors thereof is 0, and each column vector is a unit vector, for r1And r2Has r of1 Tr20 and r1||＝||r2I 1, that is, there are two constraints:
internal reference matrix of camera
Where γ is a non-perpendicular factor representing the orthogonality of the X-axis to the Y-axis of the imaging plane, typically γ is approximately equal to 0. Let B be A-TA-1It is possible to obtain:
from the above formula can be seenB is a symmetric matrix, so it can be rewritten to the form represented by a six-dimensional vector, written as B ═ B11 B12 B22 B13 B23 B33]T. Let each column vector in the homography matrix H be denoted as Hi＝[hi1hi2 hi3]TThe following relationship can be derived:
hi TBhj＝Vij Tb (1.24)
wherein, Vij＝[hi1hj1 hi1hj2+hi2hj1 hi2hj2 hi3hj1+hi1hj3 hi3hj2+hi2hj3 hi3hj3]Therefore, the two constraints of equation (1.22) can be rewritten as:
assuming that N calibration maps are captured, Vb is equal to 0, where V is a 2N × 6 matrix. The vector b contains 6 unknowns, so that when N ≧ 3, the optimal solution b for the system of equations can be calculated using Singular Value Decomposition (SVD). After the vector b is obtained, each value in the internal reference matrix A can be solved:
knowing the internal reference matrix a, the external reference of the camera can be further calculated according to equation (1.21) and the characteristics of the rotation matrix:
however, the calculated rotation matrix R is influenced by factors such as image noise and experimental error0＝[r1 r2 r3]Do not satisfy the characteristics required for R0And (4) optimizing by establishing an F norm and solving an optimal rotation matrix R through singular value decomposition. After all internal and external parameters of a single camera are obtained, all the parameters are optimized, and a nonlinear minimization model is established as follows:
wherein m isijRepresenting the pixel coordinates of the actual image extracted from the jth characteristic point in the ith calibration picture, wherein A is a camera internal reference matrix and R isiFor the rotation matrix of the ith calibration chart, tiFor the translation vector of the ith calibration chart, MijRepresenting the spatial coordinates of the jth feature point in the ith calibration chart,
the pixel coordinates of the feature point are obtained from the known quantity in parentheses. By adopting the model and combining with LM optimization algorithm, the optimized internal and external parameters of the camera can be solved.
And S30, calculating a distortion coefficient.
In this embodiment, the relationship between the ideal and actual image pixel coordinates can be further derived from equations (1.7) and (1.8) as follows:
suppose that N calibration maps are taken and N feature points are extracted from each map, so the actual pixel coordinates of all these points
Can be obtained. From the internal and external parameters that have been calculated above and the spatial coordinates of all feature points, their ideal pixel coordinates (u, v) can also be obtained, so that, combining all points, equation (1.29) can be rewritten as Dk ═ d, where k ═ d1 k2]T. K can be solved by using a linear least squares method:
k＝(DTD)-1DTd (1.30)
after the distortion coefficient is calculated, all parameters can be further optimized by slightly changing the optimization model of (1.28) and combining with the LM algorithm. The function is as follows:
and S40, calculating an external parameter matrix of the dual-camera system.
With the calibration method described above, for a single camera, assuming that N images are taken, N external reference matrices for that phase can be obtained. Therefore, for the dual camera system of this embodiment, the respective external parameter matrices of the first perspective camera and the second perspective camera, which are R respectively, can be obtainedli、tli、Rri、triWherein i is 1, 2 … N. For any point in the ith image, the coordinate of the point in the world coordinate system, the first view camera coordinate system and the second view camera coordinate system is assumed to be Xw、XlAnd XrThen, there are:
middle warmer energy XwCan obtain Xr＝RriRli -1Xli+tri-RriRli -1tliTherefore, the position conversion relation R of the two cameras at each target positioni、tiCan be expressed as:
since the positions of the two cameras are always fixed relative to each other in the dual camera system, the calculation is performedEach R ofi、tiAre approximately equal and can be represented by formulas
And averaging to obtain a final camera group external parameter matrix.
It should be noted that the above is only a simple list of a preferred method for calibrating by a camera, and a process for calculating internal and external parameters of the camera; and should not be construed as an exclusive limitation of other approaches to capturing internal and external parameters of a camera.
In order to realize observation and analysis of dynamic changes of strain in the test piece blasting process at different moments, as an optional embodiment, the constructing a three-dimensional image of the test piece in the second blasting process based on images of the test piece blasting process at different angles respectively shot by a first view camera and a second view camera of a second group of cameras includes: acquiring a first imaging point coordinate of a first sub-area on the test piece in a second blasting process image shot by a first visual angle camera; according to the epipolar constraint formula pr TFplDetermining a second imaging point coordinate corresponding to the first imaging point coordinate in a second blasting process image shot by a second visual angle camera as 0; the first imaging point coordinate and the second imaging point coordinate are corresponding coordinate points of the same point in a first sub-area on the test piece in different images; wherein, PrIs a homogeneous coordinate of the first imaging point coordinate, PlIs a homogeneous coordinate of the second imaging point coordinate.
Wherein, F is a basic matrix,
wherein A isrIs a first view angle camera internal reference, AlIs the internal parameter of the second view camera, R is the rotation matrix between the two cameras, T is the expression symbol of the transformation matrix, TxIs the translation vector in the x-direction, tyIs the translation vector in the y-direction; t is tsIs a translation vector in a direction; s is obtained by the translation vector transformation of the two cameras; determining a first sub-element on the test piece based on the obtained first imaging point coordinate and the second imaging point coordinateThe three-dimensional spatial coordinates of a corresponding point in the region.
Repeating the steps to obtain a group of discrete three-dimensional coordinates formed by all points in the first sub-area on the test piece; and constructing a three-dimensional image of the first sub-area of the test piece in the blasting process at the second preset moment by adopting an interpolation or curve fitting algorithm.
In addition, the scheme of constructing the three-dimensional image of the first subregion of the test piece in the blasting process at the third preset time, the fourth preset time and the fifth preset time is the same as the step of constructing the three-dimensional image of the first subregion of the test piece in the blasting process at the first or second preset time. Therefore, as an optional embodiment, the step of constructing the three-dimensional image of the first sub-region of the test piece during the blasting process at the second preset time is repeated, and the three-dimensional image of the first sub-region of the test piece during the blasting process at the third preset time, the fourth preset time and the fifth preset time are respectively constructed.
The utility model discloses an in the embodiment, for the convenience of looking over the strain analysis data to test piece blasting in-process, it is right at image processing analytical equipment the image is handled to still include after carrying out the analysis to the test piece strain in blasting in-process based on the image after handling: and outputting and storing the strain analysis result of the test piece in the blasting process in a data table form.
It will be understood by those skilled in the art that all or part of the processes of 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 when executed, can include the processes of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), or the like.
The above description is only for the specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention should be covered by the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (2)
1. An experimental analysis system for specimen strain during blasting, the experimental analysis system comprising: the system comprises a blasting experiment loading device, a synchronous control device, an image acquisition device and an image processing and analyzing device;
the blasting experiment loading device is used for loading a test piece, and blast holes are prefabricated on the test piece;
the synchronization control device includes: one path of the signal trigger is connected with the image acquisition device, and the other path of the signal trigger is connected with a TNT explosive blasting fuse arranged in the blast hole through the pulse igniter;
the image acquisition device comprises a first camera set, a second camera set, a third camera set, a fourth camera set and a fifth camera set, any one of the first camera set, the second camera set, the third camera set, the fourth camera set and the fifth camera set at least comprises a first visual angle camera, a second visual angle camera and a light supplement lamp, and the first visual angle camera, the second visual angle camera and the test piece are arranged in a triangular mode;
the first camera set, the second camera set, the third camera set, the fourth camera set and the fifth camera set are arranged around the test piece in an annular array;
the image acquisition device is connected with the image processing and analyzing device and is used for processing and analyzing the image of the test piece blasting process acquired by the image processing and analyzing device.
2. The system of claim 1, wherein the blasting test loading device comprises a first support, a second support, a first clamping block arranged on the first support, and a second clamping block arranged on the second support, and the first clamping block and the second clamping block are slidably arranged in the horizontal direction to accommodate clamping of test pieces of different sizes.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109975141A (en) * | 2019-04-11 | 2019-07-05 | 中国矿业大学(北京) | A kind of Experiment Analysis System and method for test specimen strain in blasting process |
| CN115060565A (en) * | 2022-08-16 | 2022-09-16 | 昆明理工大学 | Detection equipment and method for pre-splitting blasting model test |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109975141A (en) * | 2019-04-11 | 2019-07-05 | 中国矿业大学(北京) | A kind of Experiment Analysis System and method for test specimen strain in blasting process |
| CN115060565A (en) * | 2022-08-16 | 2022-09-16 | 昆明理工大学 | Detection equipment and method for pre-splitting blasting model test |
| CN115060565B (en) * | 2022-08-16 | 2022-11-01 | 昆明理工大学 | Detection equipment and method for pre-splitting blasting model test |
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