PL239596B1 - Device for measuring displacements and method of performing the measurements - Google Patents

Description

Description of the invention

The subject of the invention is a device for measuring relative displacements, such as: translation and rotation, especially on natural (inanimate nature, e.g. rock blocks) and engineering objects (e.g. buildings, structures, etc.).

In the case of measurements of expansion joints, cracks in the structure of buildings and buildings, and the displacement of tectonic structures in fault zones, relative measurement methods are used, together with specialized instrumentation. Observations of displacements are made with the use of: geodetic and photogrammetric methods, enabling the results to be related to fixed reference systems, as well as mechanical devices and sensors that use physical phenomena in measurements, such as: inductance, capacitance or resistance, which allow the obtained measurement results to be related to non-constant frames of reference.

Contemporary geodetic supervision, at the stages of formation, diagnosis and forecasting of deformations, strains and displacements occurring in the tested objects, uses the latest achievements in the field of precision mechanics and optoelectronics. This has contributed to the construction of modern measuring devices that allow for automated and telemetric observations in real time.

The principles of measuring relative and absolute displacements are described in numerous professional literature [Lazzarini T .: Geodetic measurements of displacements of buildings and their surroundings, PPWK, Warsaw 1977; Bryś H. and Przewłocki S .: Geodetic methods of measuring displacements of buildings, PWN, Warsaw 1998] and in the applicable national standards [PN-N-02211: Geodesy - Geodetic determination of displacements - Basic terminology, PKN, 2000] and international [Engineer Manual EM 1110-2-1009: Structural Deformation Surveying, US Army Corps of Engineers, Washington 2018].

The patent specification PL 207417 describes a device for measuring the relative displacement value of objects, which is equipped with a light source and a linear optical fiber array, from which the light signals are transmitted via optical fibers to a measuring system containing a photodetector connected to the amplifier. A movable diaphragm is placed between the light source and the linear optical matrix, the optical fibers of which are connected to the measuring system, with alternating transparent and opaque stripes placed along the diaphragm.

Moreover, from the patent description PL 217348, a system for measuring changes in length between measurement marks is known, relating to the measurement of relative changes in the length of sections, as a result of which the deformation of the soil or object between the measurement marks delineating a given section is determined. A characteristic feature of this invention is that a string is permanently attached to the measurement mark, which marks one of the ends of the measured section, which is suspended by a pulley mounted on a measuring plate placed on the other measuring mark, which marks the other end of the section. A camera and a linear scale are mounted on the measuring plate, and a reading indicator is attached to the tendon, and the end of the tendon is equipped with a weight. The image of the readout indicator against the background of the linear scale is recorded with a camera and sent via power and signal cables to the recorder.

There are mechanical devices [GOECKE catalog: Der Ausruster fur die Vermessungstechnik GK 7, p. 59, www.goecke.de], equipped with scales for monitoring cracks in the structure of a building in two or three directions (Riss-Spion 101- RS1, Riss-Spion 101-RS2, Riss-Spion 101RS3 and Rissmonitor 101-TT4). Depending on the predicted displacements, these devices are mounted on the tested object in various configurations. With the use of these devices, it is possible to monitor the existing relative displacements occurring on the tested objects. These instruments consist of two mutually sliding plates on which linear scales are applied with appropriate accuracy. These tiles can be made of transparent or non-transparent material.

The TM-71 feeler gauge is known from the literature [Kostak B., 1991: "Combined indicator using moire technique", Balkema, Rotterdam, ISBN 9054100257, 53-61]. The device consists of two indicators oriented in two perpendicular planes xy and xz. Each indicator consists of a pair of glass plates with etched spiral grids with hyperbolic striations (circular target) and linear, parallel striations that define two rectangular interference surfaces. The arms of the TM-71 feeler gauge, attached to the rock blocks on the fault wings, transmit their relative movements, which are then recorded by the main and line grids of the feeler gauge. The observed Moire fringes on spiral grids arise as a result of the superposition of regular geometric structures (spirals), etched on glass plates, at the moment of change

The position of one plate relative to the other. The change in the position of the plates is related to the relative displacement of the shell blocks. On the other hand, Moire fringes on linear grids arise as a result of the difference in light density when passing through linear grids rotated relative to each other as a result of the rotation of shell blocks.

There is a known method of processing images obtained with metric and non-metric cameras. The method of processing photos with any angle of inclination in relation to the adopted reference plane, described in the publication of J. Butowtt and R. Kaczyński [Butowtt J. and Kaczyński R .: "Photogrammetry", WAT, Warsaw 2003, pp. 23 + 39], is implemented on the basis of principles of projective geometry known and used in photogrammetry. The plane projective transformation method is based on a plane-to-plane transformation using at least four corresponding homologous points, assuming that no three of the four points lie in one straight line. This processing method allows to eliminate the perspective distortions resulting from the mutual non-parallelism of the planes under study. This publication (on pages 126 + 130) also describes the camera calibration procedures known and used in photogrammetry.

The problem of the indicated prior art is that the mechanical devices do not allow to automate the method of conducting the observations and do not allow sending the results of these observations to the recording unit. Another limitation, noticed in the descriptions of the devices used, is the small measuring ranges and the need for continuous access to measuring points at the observation sites. Known devices can also use the phenomenon of interference and the analysis of Moire fringes, which in fact allow to obtain high accuracy of measurements, but are limited to a small observation space.

Therefore, it turned out that the introduction of the photogrammetric method to the measurement set allows for automatic registration and transmission of measurement results and remote measurement on the acquired images, while the use of a mechanical plumb line with a three-dimensional suspended disk (3D) allows the measurement results to be related to the plumb line. The mechanical plumb line allows you to determine the inclination angles of the measured object in two mutually perpendicular directions.

The applied 3D mechanical riser has a container with a liquid to which the riser support is attached. On the support of the riser there is a tie rod with attached 3D spatial shield with measurement signals. The lower part of the tendon has a damping weight immersed in the liquid.

The plumb line of the spirit level is determined by the photogrammetric method, based on the measurement signals of the dial.

The aim of the invention is to provide a measuring device which, by means of photogrammetric processing of the recorded images of the measuring target against the reference frame, in an automatic and telemetric manner, enables the determination of position changes, i.e. shifts and rotations of the measuring elements of one object in relation to another, in relation to the plumb line. The developed invention can be used as a single set or multiplied on elements of an object.

The essence of the invention is that the device comprises a reference frame with at least four reference signals plotted on one plane XrZr in the local Cartesian coordinate system XryrZr, where, if the number of reference signals is m, the number of reference signals that are they cannot lie on one straight line, is m-1, and includes a measuring target with at least four controlled signals embedded in one plane XtZt, in the local Cartesian coordinate system XtytZt, provided that, if the number of controlled signals is k, is the number of monitored signals, which cannot lie on one straight line, is k-1, moreover, the electronic camera has a defined Cartesian coordinate system XkykZk and is connected to the central data registration and processing system and is facing the reference frame and measuring disc, moreover a mechanical vertical is attached to the frame of reference, posi providing a container with a liquid, to which a vertical support is attached, which has a tendon suspended by means of an anchor, to which a 3D spatial suspended disk with signals from a suspended disk is attached in the middle part, and in the lower part, the tendon has a damper weight, immersed in a container with a liquid , wherein the mechanical plummet has a defined Cartesian coordinate system XpypZp.

Preferably, the central data recording and processing system is a portable microcomputer.

It is also preferred that the reference signals are in the form of squares, especially white and / or black.

PL 239 596 B1

It is also preferred that the reference signals are in the form of either concentric circles, or circles, or a cross, or a code mark.

It is also advantageous if the reference signals are arranged on a regular basis on the reference frame.

It is also advantageous for the monitored signals to have the form of squares, especially of a white and / or black color.

It is also preferred that the monitored signals have the form of either concentric circles, circles, or cross, or a code sign.

It is also advantageous if the monitored signals are arranged on a regular basis on the reference frame.

Preferably, the device comprises a boom.

It is also advantageous if the electronic camera is detachably connected to the boom by means of a coupling screw.

It is also advantageous if the electronic camera is permanently connected to the boom.

It is also advantageous if the extension arm is fastened to the reference element by means of fastening screws independently of the reference frame.

It is also advantageous if the extension arm is permanently attached to the reference frame.

It is also preferred that the boom has the form of an L-shaped flat bar.

It is also preferred that the electronic camera is positioned at an observation station not related to the measured object.

It is also advantageous if the measuring dial is located inside the reference frame.

It is also preferred that the respective axes of the Cartesian coordinate systems of the measuring dial xtytzt and the reference frame XryrZr are approximately parallel to each other in the initial measurement.

It is also advantageous if the electronic camera is connected wirelessly to the central data recording and processing system.

It is also preferred that the axis yk of the Cartesian coordinate system of the electronic camera is approximately perpendicular to the plane XrZr defined by the Cartesian coordinate system of the reference frame.

It is also preferred that the respective axes of the Cartesian coordinate systems: the electronic camera XkykZk and the reference frame XryrZr in the output measurement are approximately parallel to each other.

It is also preferred that the axis yk of the Cartesian coordinate system of the electronic camera is approximately centered on the reference frame.

It is also advantageous if the reference frame is in the form of a rectangular frame or a rim.

It is also advantageous if the measuring disc is in the form of a rectangle or a circle.

It is also advantageous if the mechanical riser is detachably connected to the reference frame by means of coupling screws.

It is also advantageous if the mechanical riser is permanently connected to the reference frame.

It is also preferred that, after the mechanical plumb line is connected to the reference frame, the Cartesian coordinate systems of the reference frame XryrZr and the plumb line XpypZp are parallel to each other.

It is also advantageous if the 3D suspended disk has the form of either a straight circular cylinder, or a straight cone, or a sphere or a cuboid.

It is also advantageous for the signals of the suspended target to have the form of squares, especially white and / or black.

It is also preferred that the signals of the suspended disk have the form of either concentric circles, circles, or cross, or a code sign.

It is also advantageous if the signals of the suspension disk are arranged on a regular basis on the three-dimensional suspension disk.

The applied mechanical plumb line is a measuring element in which the plumb line coincides with the force of gravity along the plumb line, and is determined by the photogrammetric method, based on the measurement of the position of the spatial signals of the suspended target with known dimensions.

The relationship between the Cartesian and the coordinate systems: the frame of reference 3 (XryrZr) relative to the electronic camera 6 (XkykZk) is determined from formula 1, using the relevant software in the CRPD 7. This formula is a mathematical record of the spatial transformation between two Cartesian coordinate systems.

PL 239 596 Β1

X _k = MG X _r + T _r ^k (1) where:

it is a rotation matrix describing the angular relationship between the coordinate system of the reference frame (x _y y _r z _r ) and the coordinate system of the electronic camera (XkykZk); ----- »

Tr is a translation vector specifying the offset of the origin of the coordinate system of the frame of reference (XryrZ _r ) from the origin of the electronic camera coordinate system (XkykZk);

is a vector defining the position of a given point in the coordinate system of the reference frame (x _y y _r z _r );

^ k is a vector that specifies the position of a point in the coordinate system of the electronic camera (XkykZk).

The rotation matrix is a square matrix which in Euclidean 3D space has a dimension of 3x3 elements (formula 2). The nine coefficients of the rotation matrix are real numbers that are the relationships of trigonometric functions (sines and cosines) of the three angles of rotation (the so-called Euler angles, marked with Greek letters): omega (»), phi (¢ ^) and kappa (/ &), with the first rotation of the frame of reference 3 (x _y y _r z _r ) by the omega angle (®) around the x _r axis (first rotation axis), then by the angle phi (¢ ^) around the y axis _r ( second rotation axis) and finally by the angle kappa (/ &) about the z axis _r (third rotation axis). This is called ω-φ-κ convention. Angles ca, cpr, κ specify the rotation of the coordinate system of reference frame 3 (x _r y _r z _r ) with respect to the camera coordinate system 6 (XkYkZk).

' ^m n ^{m and} 2 m ₁₃ ' m _2i m ₂₂ m ₂₃ m ₃₁ ^m 32 m ₃₃ .

(2) where:

m 11 - cos cpr cos Kr mi2 = cos ca sin «· + sin ca sin cpr cos κ mi3 = sin sin κ - cos ca sin cpr cos κ m2i = - cos cpr sin κ m22 = cos ca cos« · - sin ca sin cpr sin κ m23 = sin cos κ + cos ca sin cpr sin κ m31 = sin Cpr m32 = - sin ca cos cpr m33 = COS ca COS cpr

In an issue opposite to that presented above, in the so-called the κ-cp-co convention, the angular relationship between the Cartesian coordinate system of the electronic camera 6 (XkYkZk) with respect to the frame coordinate system 3 (χ _Γ γ _Γ ζ _Γ ) is determined. This dependence is described by the formula 3, assuming the ortho * jk gonality of the rotation matrix r, from which it follows that the inverse of the orthogonal matrix is equal to its transposition number. Hence, the k matrix defining the angular relationship between the coordinate system of the electronic camera 6 (XkYkZk) and the coordinate system of the reference frame 3 (x _y y _r z _r ) is shown in formula 4.

Μ- ¹ = = (M ^k ) ^T = R ^r _k = R (3)

«I = W) '= mu m ₁₂ m ₂ and m ₂₂ ^m 3i 'm ₃₂ (4) m ₁₃ m ₂₃ ^m 33

yr

In order to determine the translation vector ¹ k, which determines the shift of the origin of the coordinate system of electronic camera 6 (XkYkZk) from the origin of the frame of reference frame 3 (x _r y _r z _r ), pr Tk based on the known rotation matrix and translation vector ¹ r uses from formula 5.

PL 239 596 Β1

K = -Ki Tf (5)

The mathematical record of the inverse transformation, i.e. the transformation between the Cartesian coordinate system of the electronic camera 6 (XkYkZk) and the Cartesian coordinate system of the frame of reference 3 (x _y yrZ _r ), is shown in formula 6.

T _r = R ^r _k ·! ^ !? (6) njrk ff ^r

On the basis of the ^iri r matrix (or (formulas 2 and 4), it is possible to determine the rotation angles φ, κ (formula 7).

= —Atan2 (m ₃₂ , m ₃₃ )

Ψτ = asin (m ₃₁ ) (7) κ _τ - —atan2 (rn ₂₁ , m ₁₁ )

Then, in a similar way to the one presented above, the relationship between the Cartesian and the coordinate systems of the measuring disc 4 (xtytZt) and the electronic camera 6 (XkYkZk) is determined, pi i.e. the rotation matrix (defining the angular relationship between the coordinate system of the electronic camera 6 (XkYkZk) is determined. and the coordinate system of the measuring wheel 4 (xtytZt) and the translation vector ¹ k (determining the shift of the origin of the coordinate system of the electronic camera 6 (XkykZk) from the beginning of the measuring target coordinate system 4 (xtytZt).

On the basis of the recorded in times to (output measurement time) and ti (current measurement time) of the position images of reference signals 11 and controlled signals 12, using

ΟγΤ Ιγτ 0 nr 1 software number, the shifts ( ¹ 1 and ¹ t) and rotations (i ^Λ ί) between Cartesian and coordinate systems: measuring dial 4 (xtytZt) with respect to the reference frame 3 (x _r y _r z _r ) are determined, in the homogeneous Cartesian coordinate system of the electronic camera 6 (XkYkZk) (Fig. 4 and Fig. 5).

On the basis of the calculated values of the respective translation vectors and the respective rotation matrices, the relative position of the measuring element 1, represented by the measuring dial 4, is determined with respect to the reference element 2, represented by the reference frame 3.

Depending on the forecasted displacements of elements 1 and 2 of the measured object and the required accuracy of measurements, the size of the device should be selected (including the number and size of the controlled signals 12 and reference signals 11) and the way of setting the electronic camera 6 and its technical parameters. It should also be remembered that the measurement results, as the shooting distance increases, may be more influenced by environmental conditions (e.g. temperature gradient and air humidity, atmospheric pressure, sunlight, dust or vibrations), which can reduce the accuracy of the measurements. The impact of these environmental factors can be limited by monitoring environmental parameters and atmosphere with additional sensors. Then the results of these sensors should be taken into account, using appropriate calculation procedures in CRPD 7, when processing images recorded with an electronic camera 6.

The subject of the invention is presented in an exemplary embodiment in the drawing, in which: Fig. 1 - shows a device for measuring displacements in the axonometric view, in the absence of connection of the reference frame with the extension arm, Fig. 2 - shows the device in an axonometric view, with the connection of the reference frame and the extension arm , fig. 3 - shows the device in an axonometric projection without a boom, with the electronic camera positioned on an independent observation stand, which can be a tripod or an observation pole, fig. 4 - shows the relationship between Cartesian coordinate systems: electronic camera XkYkZk, frame of reference x _r yrZ _r , mechanical plumb ΧρΥρΖρ and measuring disc XtytZt in the starting position to, fig. 5 - shows the relationship between Cartesian coordinate systems: electronic camera XkYkZk, reference frame x _r y _r z _r , mechanical plumb line x _P y _P z _p and measuring disc XtytZt at the current measurement position ti, while Fig. 6 - shows the relationship between Cartesian coordinate systems: electronic camera XkYkZk, reference frame x _r yrZ _r , mechanical plumb x _P y _P z _p and measuring disc XtytZt in the next measuring position at time t2, with the tilt of the reference frame, mechanical plumb line and electronic camera and measuring disc.

PL 239 596 B1

Example 1 A displacement measurement device as in Fig. 1 consists of a measuring disc 4 fastened with fastening bolts 10 to the measurement element 1 of the object to be measured, and a reference frame 3, fastened with fastening screws 10 to the reference element 2 of the object. measured. The mechanical riser 14 is attached to the reference frame 3 with coupling bolts 9, which has a liquid container 15, to which the riser 18 is attached. a suspended 3D spatial disc 16 is attached, bearing the signals of a suspended disc 17. The 3D spatial measuring disc 16 has the form of a straight circular cylinder with a diameter d. container 15 of mechanical stack 14, evaporates to a minimum extent and changes its chemical properties. Reference frame 3 has reference signals 11 and has a defined XryrZr Cartesian reference frame coordinate system. The measuring disc 4 has the monitored signals 12 and has a defined Cartesian coordinate system of the measuring disc XtytZt. The mechanical plummet 14, on the other hand, has a 3D suspended spatial disc 16 with the signals of the suspended disc 17 plotted and has a defined Cartesian plumb-line coordinate system XpypZp. A boom 5 is attached to the reference element 2, to which the electronic camera 6 is attached by means of a coupling screw 9. The electronic camera 6, which has its own Cartesian coordinate system XkykZk, is connected by a transmission line 8 to the central data recording and processing system (CRPD) 7. The displacement measurement device, made as in example 1, is designed to determine the predicted displacements of the elements 1 and 2 of the measured object in the range from 0.0 mm to 50.0 mm, with the accuracy of measurements on the level of tenths and hundredths of a millimeter. The rotation of the elements of the measured object is determined at the level of thousandths of a degree. The displacement measurements made are related to the plumb line, realized by the Zp axis of the Cartesian XpypZp coordinate system of the mechanical plumb line 14. The size of the device (including the number and size of the controlled signals 12, reference signals 11 and signals of the suspended target 17), as well as the way of setting the electronic camera 6 and its technical parameters are selected after a thorough analysis of the case. Technical parameters of the electronic camera 6, including the size and resolution of the matrix and the lens used, should be selected in such a way as to take into account the dimensions of the reference frame 3 and the dimensions of the controlled signals 12, reference signals 11 and signals from the suspended target 17. The images should be recorded with the electronic camera 6. under fixed lighting conditions.

Measurement method

Before starting the measurement of displacements on the measured object, the measuring disc 4 is mounted on the measuring element 1 by means of clamping screws 10. 5, wherein the boom 5 is connected to the reference element 2 (fig. 1). The electronic camera 6 is connected by a transmission cable 8 to the central data recording and processing system (CRPD) 7, while the target 4 is positioned so that it is inside the reference frame 3 and that the Xy planes of the Cartesian coordinate systems: XryrZr and XtytZt are relative to each other in parallel. After connecting the mechanical plumb line 14 to the reference frame 3, the Cartesian coordinate systems of the reference frame XryrZr and the plumb line XpypZp are also parallel to each other. The object and measuring device prepared in this way is suitable for the implementation of cyclical observations, in the assumed time interval, and allows to determine the occurring displacements on the measured object. The determined displacements refer to the mutual displacements of the elements: measuring 1 and reference 2.

Before starting the actual measurements, the device according to the invention is calibrated. In the case of the reference frame 3, the position of the reference signals 11 is determined in the Cartesian coordinate system XryrZr of the reference frame 3. For the measuring dial 4, the position of the monitored signals 12 is determined in the Cartesian coordinate system XtytZt of the measuring dial 4, and in the case of the 3D spatial suspended target 16, the position of the signals is determined of the suspended target 17, in the Cartesian XpypZp coordinate system of the mechanical plumb 14. For the electronic camera 6, the internal orientation elements are determined together with the distortion parameters of the optical system using known photogrammetric procedures. For the mechanical plumb line 14, the zero position of the plumb line XpypZp is determined, in which the angular inclination of the Zp axis is 0 °. The measuring target 4, the reference frame 3 and the 3D three-dimensional suspended target 16 are positioned within the selected depth of field range of the electronic camera 6 at a given shooting distance.

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During the output measurement in time to (Fig. 4), and then the actual measurement in time ti (Fig. 5), images are recorded with an electronic camera 6: reference frames 3 with reference signals 11, measuring dial 4 with controlled signals 12 and a spatial target suspended 3D 16, in the form of a straight circular cylinder with a diameter d from the signals of the suspended disk 17 (Fig. 1). Knowing the diameter d enables the necessary calculations to be made to determine the position of the cylinder axis on the basis of measurements, on the images recorded with an electronic camera 6, of the signals of the suspended disk 17 lying on the cylinder's generator.

In the event of an insufficient illuminance, during the photographing of the reference frame 3, the measuring dial 4 and the 3D suspended spatial target 16, to or more additional illumination of said elements of the device is introduced in a given measuring period.

The images recorded with the electronic camera 6 are sent to the CRPD 7 system, where they are processed and archived.

An exemplary measurement is performed with the following assumptions:

• electronic camera 6, equipped with a lens with a fixed camera of 50.00 mm;

The reference frame 3 is rectangular and has dimensions of 300 mm by 200 mm;

The measuring disc 4 is also rectangular and has dimensions of 120 mm by 140 mm;

• the distance of the electronic camera 6 from the reference frame 3 (yk) is 200.00 mm;

• during the initial measurement (in time to), the respective axes of Cartesian coordinate systems of the measuring disc (xtytZt) and the reference frame (x _r y _r z _r ) are parallel to each other Opr, i.e. the rotation matrix (matrix describing the angular relationship between the coordinate system of the measuring disc ( xtytZt) and the coordinate system of the reference frame (x _y y _r z _r )) is the unit matrix;

• the yk axis of the Cartesian coordinate system of the electronic camera 6 is approximately perpendicular and centered to the reference frame 4 - values of the angles ak, c / k, Kk (determining the rotation of the electronic camera coordinate system XkykZk in the Cartesian coordinate system of the reference frame (x _r y _r z _r )) is calculated in the step of the baseline measurement (at time to) and the current measurement (at time ti).

Based on the time-recorded images of the reference signals 11, the controlled signals 12 and the 3D spatial suspension target 16, the following values are calculated (Fig. 4): translation vectors:

¹ r (shift vector of the origin of the reference frame coordinate system (x _y y _r z _r ) from the origin of the electronic camera coordinate system (XkykZk)), ( ^{1 r} = [-145.00; -200.00; -95.00]) and * (vector specifying the shift of the origin coordinate system of the electronic camera (XkykZk) from the beginning of the coordinate system of the measuring disc (xtytZt)) ( ¹ k = [118.07; -219.13; 62.03]). Also calculated is the speed of rotation: (matrix describing the angular relationship between the nt electronic camera coordinate system (XkykZk) and the reference frame coordinate system (χ _Γ γ _Γ ζ _Γ )) and ⁿ k (matrix describing the angular relationship between the electronic camera coordinate system (XkYkZk ) and the coordinate system of the measuring disc (xtytZt)).

“Rf = 0.9999 0.0120 .-0.0072 -0.0120 0.9999 0.0096 0.0073 -0.0095 0.9999. 0.9999 -0.0120 0.0073 X = 0.0120 0.9999 -0.0095 .-0.0072 0.0096 0.9999.

Op

On the basis of the matrix, the values of the angles: ca, φκ, Kk are determined (formula 7), which determine the rotation of the XkYkZk electronic camera coordinate system with respect to the coordinate system of the reference frame

Opr Opt (x _r y _r z _r ) (ca = 0.544 °, qa = 0.421 °, Kk = 0.685 °). Since both matrices of rotation ⁿ k and ⁿ k are equal, the angles of rotation: ca, cpi, κι (determining the rotation of the XtytZt measuring disc coordinate system in the coordinate system of the reference frame (x _r y _r z _r )) are ca = 0.000 °, φι = 0.000 °, w = 0.000 °.

PL 239 596 Β1

This proves that the respective axes of the XkYkZk and x _r yrZ _r coordinate systems are mutually parallel. StoOyr occlusal pattern # 5 vector calculated k ¹ (the beginning of the transfer of the electronic camera (XkYkZk) from the beginning of the frame of reference _(χ Γ γ Γ ζ Γ)):

= - ° R _k * ° TJ = [148.07; -199.13; 92.03].

ΟτΓ

Based on the results of the calculations, it is possible to determine the components of vector ¹ 1 (determining the shift of the origin of the measuring disc coordinate system (xtytZt) from the origin of the reference frame coordinate system (x _y y _r z _r )):

= [30.00; 20.00; 30.00],

The obtained results of calculations confirmed the assumptions made regarding the position of the reference frame 3, the measuring disc 4, the electronic camera 6 and the mechanical plummet 14 at the time t0.

In a specific measurement cycle (during the measurement of the current t-ι), the values of the translation vectors are similarly calculated (Fig. 5) on the recorded images yr lyr zach: k (k = [148.07; -199.13; 92.03]) lyi * lyi Inr Inf i ¹ k ( ¹ k = [113.52; -222.36; 60.95]) and the rotation matrices: ^K k and ^K k, on the basis of which, at ex1.7, the displacement of the measuring disc 4 in relation to the reference frame 3 is ^{marked (1} 1 = [31.12; 21.98; 33.06 ], 1 no. And the rotation matrix (matrix describing the angular relationship between the measuring target coordinate system (xtytZt) and the reference frame coordinate system (x _y yrZ _r )).

0.9999

0.0131

-0.0087

-0.0131 0.0087

0.9999 -0.0044

0.0045 1.0000 lor

On the basis of the matrix ^f , the angles of rotation ca, cpi, «(determining the rotation in time ti of the XtytZt measuring disc coordinate system in the coordinate system of the reference frame lyr (x _r y _r z _r ) are determined (formula 7): ca = 0.250 °, cp = 0.500 °, w = 0.750 °). Calculated values of vector components ^{1 t,} and the rotation angles CA, cpi, n. At the time t are folded in accordance with the values adopted in this example calculation.

In the next step, the deflection of the measured object relative to the plumb line, realized through the z _p axis, of the Cartesian coordinate system x _P y _P z _p of the mechanical plumb 14 is determined. the photogrammetric images of the 3D suspended spatial disc 16 are the same at the time of the current measurement ti as at the time of the output measurement t, at the level of the measurement accuracy of this device, then the matrix P is a unit matrix and the mechanical plumb line 14 shows the constant position of the reference frame 3 (at the same time the element reference 2) at the time of measuring the current ti (Fig. 5).

In this case, the determined relative displacement of the measuring dial 4 with respect to the reference frame 3 relates to a plumb line carried out by the mechanical plumb line 14 (Fig. 5).

Example 2. The displacement measurement device as in Fig. 2 consists of a measuring disc 4 fastened with fastening bolts 10 to the measuring element 1 of the measured object, and a reference frame 3, fixed by fastening screws 10 to the reference element 2 of the measured object. In turn, the mechanical plumb line 14 is attached to the reference frame 3 with coupling bolts 9, and the extension arm 5 is permanently attached. In contrast, the reference frame 3 has reference signals 11 and has a defined Cartesian coordinate system of the reference frame x _r yrZ _r , and the mechanical plumb line 14 has a defined Cartesian vertical coordinate system x _P y _P z _p . Additionally, an electronic camera 6 is attached to the boom 5 with a coupling screw 9. The electronic camera 6 has its own Cartesian coordinate system XkYkZk and is connected via a transmission line 8 to the central data recording and processing system (CRPD) 7.

PL 239 596 Β1

The displacement measuring device, made as in example 2, is designed to measure the projected displacements of elements 1 and 2 of the measured object in the range from 0.00 mm to 10.00 mm with the measurement accuracy at the level of ± 0.01 mm. The rotation of the elements of the measured object is determined at the level of thousandths of a degree. The displacement measurements made are related to the Cartesian coordinate system χ _Ρ γ _Ρ ζ _ρ of the mechanical plumb line 14. In this embodiment, the influence of environmental conditions is kept to a minimum. The size of the device (including the number and size of the controlled signals 12, reference signals 11 and signals from the suspended target 17), as well as the setting method of the electronic camera 6 and its technical parameters, are selected after a thorough analysis of the case. Technical parameters of the electronic camera 6, including the size and resolution of the matrix and the lens used, should be selected in such a way as to take into account the dimensions of the reference frame 3 and the dimensions of the controlled signals 12, reference signals 11 and signals from the suspended target 17. The images should be recorded with the electronic camera 6. under fixed lighting conditions.

Measurement method

The measurement is carried out as in example 1, with the extension arm 5 permanently attached to the reference frame 3 (fig. 2). The next step is as in example 1.

Example 3. Arrangement as in example 1, except that shown in fig. 3, where the electronic camera 6 is placed on an independent observation station 13, unrelated to the measured object. The displacement measuring device, made as in example 3, is designed to measure the projected displacements of the elements 1 and 2 of the measured object in the range from 0 mm to 200 mm with the accuracy of measurements in the range from hundredths of a millimeter to several millimeters. The accuracy obtained depends on the technical parameters of the measuring equipment and the shooting distance. In this embodiment, with significant shooting distances, it is absolutely necessary to take into account the influence of environmental conditions on the measurement results using the appropriate calculation procedures in CRPD 7.

Measurement method

The method as in example 1, i.e. the relative displacement of the measuring disc 4 in relation to 2nr _Inr to the reference frame 3 at time t2 is the same as at time ti ( ⁿ t - ⁿ t), except that the electronic camera 6 is placed on the observation stand 13, unrelated to the measured object (Fig. 3), the reference element 2 and the observation station 13 experienced movements in relation to the measuring element 1.

During the output measurement in time to (Fig. 4), and then the actual measurement at time t2 (Fig. 6), images are recorded with an electronic camera 6: frame 3 (with reference signals 11) and measuring target 4 (with monitored signals 12). ) and images of the spatial suspension 3D target 16 (Fig. 3). If the reference element 2, represented by the reference frame 3, has been displaced, then there are significant differences in the results of the photogrammetric measurements on the images of the 3D suspended spatial target 16, exceeding the assumed limit values (Fig. 6, time of the next measurement t2).

In the calculation example, it was assumed that based on the results of photogrammetric measurements on the images of the 3D suspended disk 16, the calculated angles of rotation of the mechanical plummet 14 are respectively: «ψ = -0.2565 °, = -0.4967 ° and assuming that after calibration the coordinate axes x _p z _p of the mechanical plumb line 14 are parallel with the coordinate axes x _r z _{r of} the reference frame 3, then 2 _R Po the angle k _p = 0.000 °. Then the rotation matrix P, defining the position of the mechanical plumb 14 in the time 2nP0 t2, and the matrix ⁿ r, defining the position of the reference frame 3 in relation to the plumb line, are equal to each other and are equal to:

1.0000

0.0000

0.0087

0.0000 - 0.0087

1.0000 0.0045

-0.0045 1.0000.

On the basis of formulas known in the literature, calculations are made of the position of the disk po2 "Measured 4 in relation to the plumb line, and the rotation matrix t has the value:

PL 239 596 Β1 ^Z R

0.9999

0.0131.-0.0001

-0.0131

0.9999

-0.0001

0.0001 '

0.0001

1.0000.

2nPo

The angles of rotation of the measuring disc 4 with respect to the plumb line, obtained from the matrix ^Λ ί (formula 7), assume the following values: rot = -0.0065 °, cpr = 0.0033 ° and w = 0.7522 °. The rotation angles of the ZnPO frame with respect to the plumb line, obtained from the matrix ⁿ r (formula 7), assume the values: ca = -0.2565 °, cpr = -0.4967 ° and Kr = 0.0000 °. The displacement vector of the measuring dial 4 in relation to the reference frame 3 ΡγΤ (t), determined in the Cartesian coordinate system χ _Ρ γ _Ρ ζ _ρ of the mechanical plumb 14, i.e. referred to the plumb line, is:

^p T ^r _t = [30.83; 22.13; 33.23]

The obtained results of calculations confirmed the assumptions made regarding the position of the reference frame 3, the measuring disc 4, the electronic camera 6 and the mechanical plummet 14 at the time t2. The entire calculation process is carried out in the CRPD 7 system, using appropriate algorithms.

List of symbols:

1 - measuring element 2 - reference element 3 - reference frame 4 - measuring disc 5 - boom 6 - electronic camera 7 - central data recording and processing system (CRPD) 8 - camera transmission cable 9 - coupling screw 10 - mounting bolt 11 - reference signal 12 - controlled signal 13 - observation post 14 - mechanical plumb 15 - a container with a liquid 16 - a spatial suspended shield (3D) 17 - the signal of the suspended target 18 - riser support 19 - anchor twenty - cable 21 - silencer weight d - cylinder diameter this - output measurement time tl - time of the current measurement, with the constancy of the reference element t2 - time of the next current measurement with the reference element tilted XrYrZ _r - Cartesian coordinate system of the frame of reference XtYtZt - Cartesian coordinate system of the measuring disc XkYkZk - Cartesian coordinate system of the electronic camera ΧρΥρΖρ - Cartesian coordinate system of the mechanical plumb line ca, cpr, Kr - three Euler angles, which define the rotation of the coordinate system of the frame of reference x _r yrZ _r ca, φι, w - three Euler angles, which define the rotation of the coordinate system of the XtytZt measuring disc όφ, φρ, Kp - three Euler angles, which define the rotation of the coordinate system of the laser plummet x _P y _P z _p

PL 239 596 Β1

οχ, qx, κχ - three Euler angles, which define the rotation of the camera coordinate system about 50 > 3 electronic XkYkZk - rotation matrices describing the angular relationship between the measuring target coordinate system (xtytZt) and the reference frame coordinate system (χ _Γ γ _Γ ζ _Γ ), respectively during the measurement: Oyr l ^ r in time, current in time ti, current in time t2 - translation vectors, determining the shift of the origin of the measuring target coordinate system (xtytZt) from the origin of the reference frame coordinate system (χ _Γ γ _Γ ζ _Γ ), respectively during the measurement: output in time to, current in time ti, current in time Oni K _k , K _k , K _k olc 12 - rotation matrices describing the angular relationship between the coordinate system of the electronic camera (XkYkZk) and the coordinate system of the measuring target (xtytZt), respectively during the measurement: output in time to, current in time ti, current in czac and ł « O ^ t Ιτ'ί ZTt ¹ k ' ¹ k' ¹ k oils 12 - translation vectors, defining the shift of the origin of the coordinate system of the electronic camera (XkykZk) from the beginning of the coordinate system of the measuring target (xtytZt), respectively during the measurement: output in time to, current in time ti, current in time ° D ^{r 1} D ^{r 2} D ^r ^ k ' ^K k' ^K k olU 12 - rotation matrices describing the angular relationship between the coordinate system of the electronic camera (XkykZk) and the coordinate system of the reference frame (x _r y _r z _r ), respectively during the measurement: output in time to, current in time ti, current in time Ογτ 2ψτ ¹ k ' ¹ k' ^l k olc 12 - translation vectors, determining the shift of the origin of the coordinate system of the electronic camera (XkYkZk) from the origin of the reference frame coordinate system (x _y y _r z _r ), respectively during the measurement: output in time to, current in time ti, current in time OnP InP 2nP ^K k ' ^K k' ^K k olc 12 - rotation matrices describing the angular relationship between the coordinate system of the electronic camera (XkykZk) and the coordinate system of the laser plummet (x _p y _p z _p ), respectively during the measurement: output in time to, current in time ti, current in time t2 OnP ipP 2nP Λ _Γ , Λ _Γ , n _r - rotation matrices describing the angular relationship between the coordinate system of the reference frame (x _r y _r z _r ) and the coordinate system of the laser plummet (x _p y _p z _p ), respectively during the measurement: output in time to, current in time ti, current in time t2 OnPo IpPo 2 "Po ^K p, ^K p, ^K p - rotation matrix, describing the angular relationship of the optical vertical coordinate system (x _p y _p z _p ) with respect to the plumb line, respectively during the measurement: output in time to, current at time ti, current at time t2 2 _R p ₀ - the rotation matrix, specifying the angular relationship of the measuring disc coordinate system (xtytZt) with respect to the plumb line ² ^ ° ^ρ τί - the rotation matrix, specifying the angular relationship of the coordinate system of the reference frame (x _r y _r z _r ) with respect to the plumb line - translation vector, specifying the shift of the origin of the measuring target coordinate system (xtytZt) in relation to the origin of the reference frame coordinate system (x _r y _r z _r ), determined in the Cartesian coordinate system of the laser plummet x _P y _P z _p , i.e. related to the plumb line

PL 239 596 B1

Patent claims

Claims (47)

Patent claims 1.A device for displacement measurements, comprising an electronic camera connected to the central data recording and processing system (CRPD) and a vertical and photopoints recorded on the images, characterized by the fact that it includes a reference frame (3) with applied and at least four reference signals ( 11), which are embedded in one XrZr plane, in the local Cartesian coordinate system XryrZr, where, if the number of reference signals (11) is m, then the number of reference signals (11) that cannot lie on one straight line is m- 1, and includes a measurement target (4) with at least four controlled signals (12) embedded in one plane XtZt in the local Cartesian coordinate system XtytZt, where, if the number of controlled signals (12) is k, the number controlled signals (12), which cannot lie on one straight line, equals k-1, moreover, the electronic camera (6) has a defined Cartesian coordinate system XkykZk and p is connected to the central data recording and processing system (7) and is facing the reference frame (3) and the measuring disc (4), moreover, a mechanical plumb (14) with a container with the liquid (4) is attached to the reference frame (3). 15), to which the vertical support (18) is attached, which has a tendon (20) suspended with the use of an anchor (19), to which, in the central part, a 3D spatial suspended disc (16) with signals from the suspended disc (17) is attached, and in the lower part, the tie rod (20) has a damper weight (21) immersed in a container with a liquid (15), the mechanical plumb (14) having a defined Cartesian coordinate system XpypZp. 2. The device according to claim The method of claim 1, characterized in that the central data recording and processing system (7) is a portable microcomputer. 3. The device according to claim The method of claim 1, characterized in that the reference signals (11) are in the form of squares. 4. The device according to claim 1 3. A method according to claim 3, characterized in that the squares are filled with white and / or black. 5. The device according to claim 1 The method of claim 1, characterized in that the reference signals (11) are in the form of concentric circles. 6. The device according to claim 1 The method of claim 1, characterized in that the reference signals (11) are in the form of a circle. 7. The device according to claim 1 The method of claim 1, characterized in that the reference signals (11) are in the form of a cross. 8. The device according to claim 1 The method of claim 1, characterized in that the reference signals (11) are in the form of a code sign. 9. The device according to claim 1 The device of claim 1, characterized in that the reference signals (11) are arranged on the reference frame (3) in a regular manner. 10. The device according to claim 1 The method of claim 1, characterized in that the monitored signals (12) have the form of squares. 11. The device according to claim 1 10. A method according to claim 10, characterized in that the squares are filled with white and / or black. 12. The device according to claim 1, 3. The method of claim 1, characterized in that the monitored signals (12) are in the form of concentric circles. 13. The device according to claim 1, 3. The method of claim 1, characterized in that the monitored signals (12) are in the form of a circle. 14. The device according to claim 1, The method of claim 1, characterized in that the monitored signals (12) are in the form of a cross. The device according to claim 1, The method of claim 1, characterized in that the monitored signals (12) have the form of a code sign. 16. The device according to claim 1, The method of claim 1, characterized in that the monitored signals (12) are arranged on the measuring disc (4) in a regular manner. 17. The device according to claim 1, The device of claim 1, characterized in that the device comprises a boom (5). 18. The device according to claim 1, 17, characterized in that the electronic camera (6) is detachably connected to the arm (5) by means of a coupling screw (9). 19. The device according to claim 1 17, characterized in that the electronic camera (6) is permanently connected to the arm (5). 20. The device according to claim 1 17, characterized in that the extension arm (5) is fastened to the reference element (2) by means of fastening screws (10) independently of the reference frame (3). PL 239 596 B1 21. The device according to claim 1, 17, characterized in that the extension arm (5) is permanently attached to the reference frame (3). 22. The device of claim 1 17, characterized in that the boom (5) has the form of an L-shaped flat bar. 23. The device according to claim 1, The method of claim 1, characterized in that the electronic camera (6) is positioned on an observation station (13) not related to the measured object. 24. The device of claim 24 The device of claim 1, characterized in that the measuring disc (4) is located inside the reference frame (3). 25. The device according to claim 25 The method of claim 24, characterized in that the respective axes of the Cartesian coordinate systems of the measuring dial xtytzt and the reference frame Xryrzr are approximately parallel to each other in the output measurement. 26. The device according to claim 1, The device of claim 1, characterized in that the electronic camera (6) is connected wirelessly to the central data recording and processing system (7). The device of claim 27 The method of claim 1, characterized in that the axis yk of the Cartesian coordinate system of the electronic camera (6) is approximately perpendicular to the plane Xrzr defined by the Cartesian coordinate system of the reference frame (3). The device of claim 28 The method of claim 1, characterized in that the respective axes of the Cartesian coordinate systems: the Xkykzk electronic camera and the Xryrzr reference frame in the baseline measurement are approximately parallel to each other. 29. The device of claim 1 The device of claim 1, characterized in that the axis yk of the Cartesian coordinate system of the electronic camera (6) is approximately centered to the reference frame (3). 30. The device of claim 1 A device according to claim 1, characterized in that the reference frame (3) is in the form of a rectangular frame. 31. The device of claim 1 The device of claim 1, characterized in that the reference frame (3) is in the form of a rim. 32. The device of claim 32 A device according to claim 1, characterized in that the measuring disc (4) has the form of a rectangle. The device of claim 33. The device of claim 1, characterized in that the measuring disc (4) is in the form of a circle. 34. The device of claim 34 A device according to claim 1, characterized in that the mechanical riser (14) is connected to the reference frame (3) in a detachable manner by means of coupling screws (9). 35. The device of claim 35 A device according to claim 1, characterized in that the mechanical riser (14) is permanently connected to the reference frame (3). The device of claim 36 The device of claim 1, characterized in that, after connecting the mechanical plumb line (14) to the reference frame (3), the Cartesian coordinate systems of the Xryrzr reference frame and the plumb Xpypzp are parallel to each other. The device of claim 37. A device according to claim 1, characterized in that the 3D suspended disk (16) is in the form of a straight circular cylinder. 38. The device of claim 38 3. The device of claim 1, characterized in that the 3D spatial suspension disk (16) is in the form of a right cone. 39. The device of claim 1 3. The apparatus of claim 1, wherein the 3D spatial suspension disk (16) is in the form of a sphere. 40. The device of claim 40 3. The device of claim 1, characterized in that the 3D spatial suspension disk (16) is in the form of a cuboid. 41. The device of claim 41 The method of claim 1, characterized in that the signals of the suspended target (17) are in the form of squares. The device of claim 42 41, characterized in that the squares are filled with white and / or black. The device of claim 43 The method of claim 1, characterized in that the signals of the suspended disk (17) are in the form of concentric circles. 44. The device of claim 44 The method of claim 1, characterized in that the signals of the suspended disk (17) are in the form of a circle. 45. The device of claim 45 The method of claim 1, characterized in that the signals of the suspended disk (17) are in the form of a cross. 46. The device of claim 46 The method of claim 1, characterized in that the signals of the suspended target (17) are in the form of a code sign. The device of claim 47 The device of claim 1, characterized in that the signals of the suspension disk (17) are arranged on the spatial suspension disk 3D (16) in a regular manner.