WO2012098279A1 - Low-cost wireless system with automatic location-finding based on image processing for dynamic infrastructure testing - Google Patents
Low-cost wireless system with automatic location-finding based on image processing for dynamic infrastructure testing Download PDFInfo
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- 238000012360 testing method Methods 0.000 title claims abstract description 27
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M5/00—Investigating the elasticity of structures, e.g. deflection of bridges or air-craft wings
- G01M5/0041—Investigating the elasticity of structures, e.g. deflection of bridges or air-craft wings by determining deflection or stress
- G01M5/005—Investigating the elasticity of structures, e.g. deflection of bridges or air-craft wings by determining deflection or stress by means of external apparatus, e.g. test benches or portable test systems
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M5/00—Investigating the elasticity of structures, e.g. deflection of bridges or air-craft wings
- G01M5/0008—Investigating the elasticity of structures, e.g. deflection of bridges or air-craft wings of bridges
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M5/00—Investigating the elasticity of structures, e.g. deflection of bridges or air-craft wings
- G01M5/0033—Investigating the elasticity of structures, e.g. deflection of bridges or air-craft wings by determining damage, crack or wear
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M5/00—Investigating the elasticity of structures, e.g. deflection of bridges or air-craft wings
- G01M5/0041—Investigating the elasticity of structures, e.g. deflection of bridges or air-craft wings by determining deflection or stress
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M5/00—Investigating the elasticity of structures, e.g. deflection of bridges or air-craft wings
- G01M5/0091—Investigating the elasticity of structures, e.g. deflection of bridges or air-craft wings by using electromagnetic excitation or detection
Definitions
- the present invention falls within the field of structure monitoring.
- the developed low-cost wireless system allows the location of the structure monitoring sensors with low cost cameras and subsequent image processing to be located in relation to known reference points.
- Structural health monitoring techniques are gaining acceptance in the infrastructure sector as a reliable and economical way to alert engineers in the initial phases of defect formation, and to warn them as quickly as possible about the need to carry out Timely maintenance work.
- Structural health monitoring has been in operation since the end of the 19th century, when road workers listened to its acoustic emissions in order to detect faults or cracks.
- These visual or auditory recognition techniques are the most used alternatives when the technology is lacking to carry out a more adequate study. Thanks to the computational advance of the last 30 years, several techniques based on deeper physical principles and analyzes have been developed, with respect to those performed in earlier times.
- a method of assessing the deterioration state of a bridge must be able to assess the loss of stiffness of the structure over time.
- the inspection by dynamic tests of the structure under uncontrolled environmental loads provides a valuable and easy-to-implement tool, since it does not disturb the service conditions of the same, it is not necessary to cut traffic for the performance of the test.
- Dynamic inspection has distinctive advantages compared to other methods, such as periodic visual checks, as it allows the detection of structural damage that is not visible or is not accessible to the inspection.
- the dynamic response of a bridge that is recorded in a dynamic test indicates globally the possible existence of damage, in the case of a reduction in stiffness and therefore a modification of its modal characteristics (frequencies and modes of vibration mainly).
- the measures located in certain sections do not generally ensure the appearance of structural deterioration.
- Vibration inspection of civil engineering structures has gained great interest over the past decade, due to its relative ease of instrumentation and to the development of new powerful identification techniques, capable of extracting the modal properties of the structure from the measurements of accelerations, displacements and / or deformations. Special attention is being given to techniques that make use of operational data (tests under service loads).
- the systems typically used are based on wired sensors that are registered in an acquisition team to subsequently perform an analysis of the data obtained, according to the following scheme:
- Document US2008 / 0307025 describes a procedure by which the relative location of the nodes of a wireless network is calculated based on the power received by the rest of the nodes of the network, using an algorithm to avoid reflections.
- US5913820 describes a process by which the location of electric and magnetic field sensors is measured based on the response of induction coils.
- the object of the invention is the creation of a low-cost wireless system with automatic location of the relative position of the sensors, allowing dynamic infrastructure tests to be carried out based on image processing, solving the aforementioned drawbacks, also providing other Additional advantages that will be apparent from the description that follows.
- the precise placement of the structure monitoring sensors is avoided since, due to the automatic location based on the image processing, the exact point at which each sensor is located will be known.
- the camera-equipped wireless sensors capture the images of the neighboring sensors that are in your field of vision. By knowing the actual distance between the points detected in the images, the distance at which the sensors are located can be obtained by treating them. If it is necessary to obtain absolute coordinates instead of relative ones, only a wireless sensor should be located at a known point, taking the rest of the distances as a reference from that sensor. All the data related to the location must be included in the data necessary for the dynamic test calculations, without being prefixed in advance, part that entails a great effort and that has not been resolved until now.
- the system consists of a series of wireless sensors connected to a data acquisition module, a wireless module responsible for synchronization between sensors, a wireless module responsible for communication between sensors, a main microcontroller that manages the measurement and communication with the rest of the system and three diodes of different colors that allow the optical location of the sensor. Also included is an image-based location system implemented by a motorized camera that allows, through image processing, to obtain the relative position of the sensors relative to a known reference system.
- the image treatment is based on the detection of three points of the modules that, being of different color, allow by means of algorithms of treatment of images based on triangulation, to detect the relative position with a resolution sufficient for the purpose that is pursued.
- Each of the wireless sensors provided with the image-based location system captures the images of the rest of the wireless sensors in your field of vision. In these images the three luminous points (diodes) of different colors (black, white and gray in the figure) are detected. Since the relative distance between the luminous points of each wireless sensor is known (di, d 2 , d 3 ), by triangulation it is possible to obtain the relative distance of the device that is capturing the images with respect to the sensor it is analyzing. With the complete information of the relative positions of all the wireless sensors a complete scheme of the monitoring of the structure to be carried out can be obtained.
- the one that can be considered with the greatest scientific contribution is the incorporation of a positioning system to the acquisition team, in this way, in addition to the acceleration data of each measurement point at which positions a wireless sensor, the invention also allows to know the relative position of each of the sensors with respect to a reference system.
- an automatic positioning system makes it possible to increase the number of sensors used, thus avoiding the carrying out of the previous study, by replacing optimal positioning, by positioning with criteria in a greater number of points. Additionally, the invention avoids the cumbersome task of previously marking the coordinates with chalk since the positioning with criteria can be carried out with the naked eye by an experienced operator.
- the sensor coordinate file is obtained automatically during the test, which allows the structural identification to be carried out in situ, in addition to avoiding the possible human error in the writing of the location file data. All this constitutes a remarkable improvement when carrying out the test, with a significant cost reduction, mainly in time and labor required.
- Figure 1 Shows a diagram of the simple wireless system for dynamic infrastructure tests in accordance with the present invention.
- Figure 2.- Shows a diagram of a typical arrangement of a measure.
- Figure 3. Represents an image obtaining scheme by which it is possible to obtain the relative location of the sensors.
- a preferred but non-limiting embodiment of the invention can be observed therein which consists of a plurality of simple wireless sensors (1) and a series of wireless sensors equipped with an image-based location system (2) all distributed throughout the structure to be monitored, so that each wireless sensor (1) is within the field of vision of at least one wireless sensor equipped with an image based location system (2).
- the relative location of the wireless sensors within the system is allowed, at the time of deployment of the wireless sensor network its location in specific positions is not required, but distributed, with criteria according to the pathology to be analyzed, by the area in which the test is desired.
- wireless reference sensor (3) there is at least one wireless reference sensor (3) whose position is preset in the system and invariable if more than one measurement is required with the rest of the wireless sensors (1 and 2) arranged in different locations for a same test, which will be distributed according to the needs of the structure, increasing the density in case more precision is required in the monitoring.
- One of the wireless sensors (4) will serve as a wireless link between the rest of the system's wireless sensors and a server computer (5) that will allow storing and visualizing the test results as soon as it is completed, evaluating the need to repeat another type of test.
- the order to start the test is issued and via the wireless link sensor ( 4) a synchronization message is sent to all wireless sensors in the network (1, 2, 3) via a wireless transceiver designed for this purpose.
- This message is received by the local processing subsystem of each wireless sensor, initiating the measurement, through the acquisition modules that receive the signals generated by their accelerometers. All this, according to the parameters that have been configured on the server computer (duration of the measurement, sampling frequency, number of samples, etc.).
- the wireless sensors equipped with an image-based location system analyze all the images obtained from the wireless sensors that are around them, partially processing them in the local processing subsystem and obtaining the relative positions of the same.
- the system analyzes the images obtained from the wireless sensors in your field of vision through the three LEDs (6, 7, 8) of different colors, arranged in each of them and taking into account that The actual distance (d1, d2, d3) between these points and the resolution of the camera are known, which makes it possible to obtain, by means of image processing and triangulation, the relative arrangement of each wireless sensor with respect to which the images are being captured.
- each of the wireless sensors (1, 2, 3) sends through its wireless transceiver for data exchange, to the server computer (5) through the wireless link sensor (4) all the information of the samples obtained and the local processing of the images, allowing the analysis of said information (signal samples and location) of the different wireless sensors, interpreting the result.
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- Aviation & Aerospace Engineering (AREA)
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Abstract
The invention relates to a low-cost wireless system with automatic location-finding based on image processing for dynamic infrastructure testing, that avoids the precise positioning of the sensors by being based on wireless devices provided with low-cost monitored cameras, enabling the relative position of the sensors in relation to a known point to be obtained by means of the image processing.
Description
Sistema inalámbrico de bajo coste con localización automática basada en el tratamiento de imágenes para ensayos dinámicos de infraestructuras Low cost wireless system with automatic location based on image processing for dynamic infrastructure tests
Descripción Description
Sistema inalámbrico de bajo coste con localización automática basada en el tratamiento de imágenes para ensayos dinámicos de infraestructuras. Low cost wireless system with automatic localization based on image processing for dynamic infrastructure tests.
Objeto de la invención Object of the invention
La presente invención se encuadra en el campo de la monitorización de estructuras. El sistema inalámbrico de bajo coste desarrollado permite la localización de la posición relativa, respecto de unos puntos de referencia conocidos, de los sensores de monitorización de la estructura mediante cámaras de bajo coste y posterior tratamiento de las imágenes. The present invention falls within the field of structure monitoring. The developed low-cost wireless system allows the location of the structure monitoring sensors with low cost cameras and subsequent image processing to be located in relation to known reference points.
Antecedentes de la invención Background of the invention
Con el paso del tiempo, la fluencia de hormigón, la fatiga causada en los ciclos de carga y descarga en las infraestructuras por el tráfico, el clima, las obras de construcción, ampliación o remodelación, la rotura de elementos estructurales como tirantes de pretensado etc. pueden provocar pérdida de rigidez, formación de grietas, corrosión en las uniones y las armaduras resistentes, que también pueden convertirse en un peligro estructural. With the passage of time, the creep of concrete, the fatigue caused in the cycles of loading and unloading in the infrastructures due to traffic, weather, construction, expansion or remodeling, the breakage of structural elements such as prestressing braces etc. . they can cause stiffness, crack formation, joint corrosion and resistant reinforcements, which can also become a structural hazard.
En las obras públicas, y en particular los puentes, se hace precisa una inspección regular para efectuar una detección temprana de cualquier defecto susceptible de producir pérdida de rigidez y de este modo evaluar de forma actualizada la seguridad y la fiabilidad de las estructuras. In public works, and in particular the bridges, a regular inspection is necessary to carry out an early detection of any defect likely to cause loss of stiffness and thus to evaluate in an updated way the safety and reliability of the structures.
Las técnicas de monitorización de salud estructural, están ganando aceptación en el sector de las infraestructuras como una forma fiable y económica de alertar a los ingenieros en las fases iniciales de formación de defectos, y de advertirles lo más rápido posible sobre la necesidad de efectuar las oportunas labores de mantenimiento. Structural health monitoring techniques are gaining acceptance in the infrastructure sector as a reliable and economical way to alert engineers in the initial phases of defect formation, and to warn them as quickly as possible about the need to carry out Timely maintenance work.
La monitorización de salud estructural se ha trabajado desde finales del siglo XIX, cuando los trabajadores de las vías escuchaban las emisiones acústicas de la misma a fin de detectar fallas o grietas. Estas técnicas de reconocimiento visual o auditivo, son las alternativas más utilizadas cuando se carece de la tecnología para realizar un estudio más adecuado. Gracias al avance computacional de los últimos 30
años, se han desarrollado varias técnicas basadas en principios físicos y análisis más profundos, con respecto de los realizados en épocas anteriores. Structural health monitoring has been in operation since the end of the 19th century, when road workers listened to its acoustic emissions in order to detect faults or cracks. These visual or auditory recognition techniques are the most used alternatives when the technology is lacking to carry out a more adequate study. Thanks to the computational advance of the last 30 years, several techniques based on deeper physical principles and analyzes have been developed, with respect to those performed in earlier times.
Con sensores verificando continuamente la aparición de los primeros signos de desgaste, se pueden detectar las pérdidas de rigidez mucho antes que mediante métodos visuales tradicionales, realizar el mantenimiento adecuado en el momento correcto, y posiblemente impedir desperfectos masivos. With sensors continually verifying the appearance of the first signs of wear, stiffness losses can be detected much earlier than by traditional visual methods, perform proper maintenance at the right time, and possibly prevent massive damage.
Adicionalmente, una detección y localización del daño tempranas permite que los trabajos de mantenimiento y reparación puedan ser programados adecuadamente. Additionally, early damage detection and location allows maintenance and repair work to be properly programmed.
De esta forma se puede minimizar, no solo los costes anuales de reparación, sino evitar también lapsos de tiempo que pueden representar un coste económico mayor (por ejemplo, retrasos del tráfico debido a una reparación importante del puente). In this way, not only the annual repair costs can be minimized, but also time lapses that may represent a higher economic cost (for example, traffic delays due to a major bridge repair) can be avoided.
Típicamente en países desarrollados el número de puentes existentes, ya construidos y con un grado de envejecimiento significativo, excede al de nuevos puentes a ser construidos. Por ello, los costes de mantenimiento, reparación y rehabilitación pueden representar un peso excesivo en las economías futuras nacionales. Este hecho exige una gestión integral del mantenimiento de puentes. Typically in developed countries the number of existing bridges, already built and with a significant degree of aging, exceeds that of new bridges to be built. Therefore, maintenance, repair and rehabilitation costs may represent an excessive weight in future national economies. This fact requires a comprehensive management of bridge maintenance.
Para evitar los elevados costes de reparación, un método de evaluación del estado de deterioro de un puente tiene que ser capaz de evaluar la pérdida de rigidez de la estructura por el paso del tiempo. La inspección mediante ensayos dinámicos de la estructura bajo cargas medioambientales no controladas suministra una herramienta valiosa y de fácil implantación, ya que no perturba las condiciones de servicio de la misma, no siendo necesario cortar el tráfico para la realización del ensayo. La inspección dinámica posee unas ventajas distintivas en comparación con otros métodos, como por ejemplo, los chequeos visuales periódicos, ya que permite detectar daños estructurales no visibles o poco accesibles a la inspección. To avoid high repair costs, a method of assessing the deterioration state of a bridge must be able to assess the loss of stiffness of the structure over time. The inspection by dynamic tests of the structure under uncontrolled environmental loads provides a valuable and easy-to-implement tool, since it does not disturb the service conditions of the same, it is not necessary to cut traffic for the performance of the test. Dynamic inspection has distinctive advantages compared to other methods, such as periodic visual checks, as it allows the detection of structural damage that is not visible or is not accessible to the inspection.
Por otra parte, la respuesta dinámica de un puente que se registra en un ensayo dinámico indica de forma global la posible existencia de daño, en el caso de producirse una reducción de rigidez y por consiguiente una modificación de sus características modales (frecuencias y modos de vibración principalmente). Por el contrario en un ensayo estático las medidas localizadas en determinadas secciones no aseguran en general la aparición de un deterioro estructural. On the other hand, the dynamic response of a bridge that is recorded in a dynamic test indicates globally the possible existence of damage, in the case of a reduction in stiffness and therefore a modification of its modal characteristics (frequencies and modes of vibration mainly). On the contrary, in a static test the measures located in certain sections do not generally ensure the appearance of structural deterioration.
La inspección por vibración de estructuras de ingeniería civil ha ganado un gran interés a lo largo de la pasada década, debido a su relativa facilidad de instrumentación
y al desarrollo de nuevas técnicas de identificación muy potentes, capaces de extraer las propiedades modales de la estructura a partir de las medidas de aceleraciones, desplazamientos y/o deformaciones. Se está prestando especial atención a las técnicas que hacen uso de datos operacionales (ensayos bajo cargas de servicio). Vibration inspection of civil engineering structures has gained great interest over the past decade, due to its relative ease of instrumentation and to the development of new powerful identification techniques, capable of extracting the modal properties of the structure from the measurements of accelerations, displacements and / or deformations. Special attention is being given to techniques that make use of operational data (tests under service loads).
Los sistemas típicamente utilizados se basan en sensores cableados que se registran en un equipo de adquisición para posteriormente realizar un análisis de los datos obtenidos, de acuerdo al siguiente esquema: The systems typically used are based on wired sensors that are registered in an acquisition team to subsequently perform an analysis of the data obtained, according to the following scheme:
1 . Identificación de los puntos en los que es necesario realizar la medida one . Identification of the points where the measurement is necessary
2. Colocación precisa de los sensores 2. Precise placement of the sensors
3. Cableado de los sensores 3. Sensor wiring
4. Realización de la medida 4. Completion of the measure
5. Análisis de los datos 5. Data analysis
En los últimos tiempos se está sustituyendo el cableado de los sensores por tecnología inalámbrica para evitar el tiempo de realización del cableado y los costes que esto supone. In recent times, the wiring of the sensors is being replaced by wireless technology to avoid the wiring time and the costs that this entails.
En el campo de los ensayos dinámicos de estructuras, existen diversos métodos basados principalmente en el análisis de los datos recogidos por sensores de esfuerzos o de movimientos ya sea de desplazamiento, de velocidad o de aceleración. In the field of dynamic structure tests, there are several methods based mainly on the analysis of the data collected by stress or movement sensors, whether displacement, velocity or acceleration.
Es conocido por la patente US6240783, un sistema de monitorización de estructuras de puentes basado en el empleo del análisis de señales de frecuencia, velocidad y desplazamiento medidas mediante la reflexión de un haz de luz tipo láser en diferentes reflectores situados en la estructura. It is known from US6240783, a bridge structure monitoring system based on the use of the analysis of frequency, speed and displacement signals measured by the reflection of a laser beam in different reflectors located in the structure.
El documento US2008/0307025 describe un procedimiento por el cual se calcula la localización relativa de los nodos de una red inalámbrica basándose en la potencia recibida por parte del resto de nodos de la red, utilizando un algoritmo para evitar las reflexiones. Document US2008 / 0307025 describes a procedure by which the relative location of the nodes of a wireless network is calculated based on the power received by the rest of the nodes of the network, using an algorithm to avoid reflections.
Adicionalmente, la patente US5913820 describe un procedimiento mediante el cual se mide la localización de sensores de campo eléctrico y magnético basándose en la respuesta de bobinas de inducción. Additionally, US5913820 describes a process by which the location of electric and magnetic field sensors is measured based on the response of induction coils.
Sin embargo, estos procedimientos no proporcionan la precisión necesaria para la caracterización dinámica en el primer caso o requieren que la distancia entre los sensores sea muy pequeña, con lo que no se puede cubrir el área a caracterizar con un número de sensores razonable para una medida.
Descripción de la invención However, these procedures do not provide the necessary precision for dynamic characterization in the first case or require that the distance between the sensors be very small, so that the area to be characterized cannot be covered with a reasonable number of sensors for a measurement . Description of the invention
La invención tiene por objeto la creación de un sistema inalámbrico de bajo coste con localización automática de la posición relativa de los sensores permitiendo la realización de ensayos dinámicos de infraestructuras basada en el tratamiento de imágenes, resolviendo los inconvenientes anteriormente citados, aportando, además, otras ventajas adicionales que serán evidentes a partir de la descripción que se acompaña a continuación. The object of the invention is the creation of a low-cost wireless system with automatic location of the relative position of the sensors, allowing dynamic infrastructure tests to be carried out based on image processing, solving the aforementioned drawbacks, also providing other Additional advantages that will be apparent from the description that follows.
Con este sistema se evita la colocación precisa de los sensores de monitorización de estructuras puesto que, debido a la localización automática basada en el tratamiento de imágenes, se conocerá el punto exacto en el que se encuentra cada sensor. Mediante el citado sistema de localización basado en imágenes, los sensores inalámbricos dotados de cámara capturan las imágenes de los sensores vecinos que se encuentran en su campo de visión. Al conocer la distancia real entre los puntos detectados en las imágenes, se puede obtener mediante el tratamiento de las mismas la distancia a la que se encuentran los sensores. Si fuera necesario obtener coordenadas absolutas en lugar de relativas únicamente habría que situar en un punto conocido un sensor inalámbrico, tomando el resto de distancias como referencia desde ese sensor. Todos los datos relacionados con la localización deben incluirse en los datos necesarios para los cálculos del ensayo dinámico, sin estar prefijados de antemano, parte que conlleva un gran esfuerzo y que no se ha resuelto hasta ahora. With this system, the precise placement of the structure monitoring sensors is avoided since, due to the automatic location based on the image processing, the exact point at which each sensor is located will be known. Using the aforementioned image-based location system, the camera-equipped wireless sensors capture the images of the neighboring sensors that are in your field of vision. By knowing the actual distance between the points detected in the images, the distance at which the sensors are located can be obtained by treating them. If it is necessary to obtain absolute coordinates instead of relative ones, only a wireless sensor should be located at a known point, taking the rest of the distances as a reference from that sensor. All the data related to the location must be included in the data necessary for the dynamic test calculations, without being prefixed in advance, part that entails a great effort and that has not been resolved until now.
El sistema consiste en una serie de sensores inalámbricos conectados a un módulo de adquisición de datos, un módulo inalámbrico encargado de la sincronización entre sensores, un módulo inalámbrico encargado de la comunicación entre sensores, un microcontrolador principal que gestiona la medida y la comunicación con el resto del sistema y tres diodos de diferentes colores que permiten la localización óptica del sensor. También se incluye un sistema de localización basado en imágenes implementado por una cámara motorizada que permite, mediante el tratamiento de imágenes, obtener la posición relativa de los sensores respecto a un sistema de referencia conocido. The system consists of a series of wireless sensors connected to a data acquisition module, a wireless module responsible for synchronization between sensors, a wireless module responsible for communication between sensors, a main microcontroller that manages the measurement and communication with the rest of the system and three diodes of different colors that allow the optical location of the sensor. Also included is an image-based location system implemented by a motorized camera that allows, through image processing, to obtain the relative position of the sensors relative to a known reference system.
El tratamiento de imágenes se basa en la detección de tres puntos de los módulos que, siendo de diferente color, permiten mediante algoritmos de tratamiento de imágenes basados en triangulación, detectar la posición relativa con una resolución suficiente para el propósito que se persigue.
Cada uno de los sensores inalámbricos provistos del sistema de localización basado en imágenes captura las imágenes del resto de sensores inalámbricos en su campo de visión. En esas imágenes se detectan los tres puntos luminosos (diodos) de diferentes colores (negro, blanco y gris en la figura). Puesto que la distancia relativa entre los puntos luminosos de cada sensor inalámbrico es conocida (di ,d2,d3), mediante triangulación es posible obtener la distancia relativa del dispositivo que está capturando las imágenes respecto al sensor que está analizando. Con la información completa de las posiciones relativas de todos los sensores inalámbricos se puede obtener un esquema completo de la monitorización de la estructura a realizar. The image treatment is based on the detection of three points of the modules that, being of different color, allow by means of algorithms of treatment of images based on triangulation, to detect the relative position with a resolution sufficient for the purpose that is pursued. Each of the wireless sensors provided with the image-based location system captures the images of the rest of the wireless sensors in your field of vision. In these images the three luminous points (diodes) of different colors (black, white and gray in the figure) are detected. Since the relative distance between the luminous points of each wireless sensor is known (di, d 2 , d 3 ), by triangulation it is possible to obtain the relative distance of the device that is capturing the images with respect to the sensor it is analyzing. With the complete information of the relative positions of all the wireless sensors a complete scheme of the monitoring of the structure to be carried out can be obtained.
De este modo, entre otras mejoras al sistema, la que puede considerarse con mayor aporte científico es la incorporación de un sistema de posicionamiento al equipo de adquisición, de esta manera, además de los datos de aceleración de cada punto de medida en el que se posiciona un sensor inalámbrico, la invención permite conocer también la posición relativa de cada uno de los sensores con respecto a un sistema de referencia. Thus, among other improvements to the system, the one that can be considered with the greatest scientific contribution is the incorporation of a positioning system to the acquisition team, in this way, in addition to the acceleration data of each measurement point at which positions a wireless sensor, the invention also allows to know the relative position of each of the sensors with respect to a reference system.
Este sistema ha surgido al estudiar los actuales sistemas de medida, que requieren de un posicionamiento previo de las coordenadas de cada sensor sobre las estructuras mediante la utilización de una cinta métrica. De acuerdo con el estado actual de la técnica, el proceso requiere de un estudio previo del puente y la posterior localización de los puntos. Además estos deben ser incorporados manualmente en un fichero como paso previo a la realización de la identificación estructural. This system has emerged when studying the current measurement systems, which require a prior positioning of the coordinates of each sensor on the structures through the use of a measuring tape. According to the current state of the art, the process requires a prior study of the bridge and the subsequent location of the points. In addition, these must be manually incorporated into a file as a previous step to the completion of the structural identification.
La introducción de un sistema automático de posicionamiento permite aumentar el número de sensores utilizados evitando de esta manera la realización del estudio previo, al sustituir posicionamiento óptimo, por posicionamiento con criterio en un mayor número de puntos. Adicionalmente, la invención evita la engorrosa tarea de marcar previamente las coordenadas con tiza ya que el posicionamiento con criterio puede realizarse a simple vista por un operario experimentado. Con el sistema de localización automática basada en el tratamiento de imágenes, el fichero de coordenadas de los sensores se obtiene de forma automatizada durante el ensayo lo que permite realizar la identificación estructural in situ, además de evitar el posible error humano en la escritura de los datos del fichero de localización. Todo ello constituye una mejora notable a la hora de llevar a cabo el ensayo, con una importante reducción de coste, principalmente en tiempo y mano de obra necesaria.
Breve descripción de los dibujos The introduction of an automatic positioning system makes it possible to increase the number of sensors used, thus avoiding the carrying out of the previous study, by replacing optimal positioning, by positioning with criteria in a greater number of points. Additionally, the invention avoids the cumbersome task of previously marking the coordinates with chalk since the positioning with criteria can be carried out with the naked eye by an experienced operator. With the automatic location system based on the image processing, the sensor coordinate file is obtained automatically during the test, which allows the structural identification to be carried out in situ, in addition to avoiding the possible human error in the writing of the location file data. All this constitutes a remarkable improvement when carrying out the test, with a significant cost reduction, mainly in time and labor required. Brief description of the drawings
Para complementar la descripción que antecede y con objeto de ayudar a una mejor comprensión de las características de la invención, se va a realizar una descripción detallada de una realización preferida, en base a un juego de dibujos que se acompañan a esta memoria descriptiva y en donde con carácter meramente orientativo y no limitativo se ha representado lo siguiente: To complement the above description and in order to help a better understanding of the features of the invention, a detailed description of a preferred embodiment will be made, based on a set of drawings that accompany this specification and in where the following has been represented merely for guidance and non-limiting purposes:
La Figura 1 .- Muestra un diagrama del sistema inalámbrico simple para ensayos dinámicos de infraestructuras de acuerdo con la presente invención. Figure 1 .- Shows a diagram of the simple wireless system for dynamic infrastructure tests in accordance with the present invention.
La Figura 2.- Muestra un diagrama de una disposición típica de una medida. Figure 2.- Shows a diagram of a typical arrangement of a measure.
La Figura 3.- Representa un esquema de la obtención de imagen mediante la que se permite obtener la localización relativa de los sensores. Figure 3.- Represents an image obtaining scheme by which it is possible to obtain the relative location of the sensors.
Descripción detallada de una forma de realización de la invención A la vista de las comentadas figuras y de acuerdo con la numeración adoptada, se puede observar en las mismos una realización preferente aunque no limitativa de la invención la cual consta de una pluralidad de sensores inalámbricos simples (1 ) y una serie de sensores inalámbricos dotados de sistema de localización basado en imágenes (2) todos ellos distribuidos a lo largo de la estructura a monitorizar, de tal modo que cada sensor inalámbrico (1 ) se encuentra dentro del campo de visión de al menos un sensor inalámbrico dotado de sistema de localización basado en imágenes (2). DETAILED DESCRIPTION OF AN EMBODIMENT OF THE INVENTION In view of the aforementioned figures and in accordance with the numbering adopted, a preferred but non-limiting embodiment of the invention can be observed therein which consists of a plurality of simple wireless sensors (1) and a series of wireless sensors equipped with an image-based location system (2) all distributed throughout the structure to be monitored, so that each wireless sensor (1) is within the field of vision of at least one wireless sensor equipped with an image based location system (2).
Basándose en el hecho de que, de acuerdo con la presente invención, se permite la localización relativa de los sensores inalámbricos dentro del sistema, a la hora de despliegue de la red de sensores inalámbricos no se requiere su localización en posiciones concretas, sino repartidos, con criterio según la patología a analizar, por la zona en la que se desee hacer el ensayo. Based on the fact that, in accordance with the present invention, the relative location of the wireless sensors within the system is allowed, at the time of deployment of the wireless sensor network its location in specific positions is not required, but distributed, with criteria according to the pathology to be analyzed, by the area in which the test is desired.
Asimismo, se dispone de al menos un sensor inalámbrico de referencia (3) cuya posición es prefijada en el sistema e invariable en caso de precisarse más de una medida con el resto de los sensores inalámbricos (1 y 2) dispuestos en diferentes localizaciones para un mismo ensayo, que se distribuirán según las necesidades de la estructura, aumentando la densidad en caso de requerirse mayor precisión en la monitorización.
Uno de los sensores inalámbricos (4) servirá de enlace inalámbrico entre el resto de sensores inalámbricos del sistema y un ordenador servidor (5) que permitirá almacenar y visualizar los resultados del ensayo nada más concluir el mismo, evaluando la necesidad de repetir otro tipo de ensayo. Likewise, there is at least one wireless reference sensor (3) whose position is preset in the system and invariable if more than one measurement is required with the rest of the wireless sensors (1 and 2) arranged in different locations for a same test, which will be distributed according to the needs of the structure, increasing the density in case more precision is required in the monitoring. One of the wireless sensors (4) will serve as a wireless link between the rest of the system's wireless sensors and a server computer (5) that will allow storing and visualizing the test results as soon as it is completed, evaluating the need to repeat another type of test.
De este modo, una vez los sensores inalámbricos (1 , 2, 3 y 4) están distribuidos sobre la infraestructura a monitorizar desde el ordenador servidor (5) se emite la orden de comienzo de realización del ensayo y a través del sensor inalámbrico de enlace (4) se envía un mensaje de sincronización a todos los sensores inalámbricos de la red (1 , 2, 3) mediante un transceptor inalámbrico diseñado para este fin. Este mensaje es recibido por el subsistema local de procesamiento de cada sensor inalámbrico, iniciando la medida, a través de los módulos de adquisición que reciben las señales generadas por sus acelerometros. Todo ello, de acuerdo con los parámetros que se hayan configurado en el ordenador servidor (duración de la medida, frecuencia de muestreo, número de muestras, etc). Thus, once the wireless sensors (1, 2, 3 and 4) are distributed on the infrastructure to be monitored from the server computer (5), the order to start the test is issued and via the wireless link sensor ( 4) a synchronization message is sent to all wireless sensors in the network (1, 2, 3) via a wireless transceiver designed for this purpose. This message is received by the local processing subsystem of each wireless sensor, initiating the measurement, through the acquisition modules that receive the signals generated by their accelerometers. All this, according to the parameters that have been configured on the server computer (duration of the measurement, sampling frequency, number of samples, etc.).
En paralelo a la toma de muestras, los sensores inalámbricos dotados de sistema de localización basado en imágenes analizan todas las imágenes que obtienen de los sensores inalámbricos que tienen a su alrededor, procesándolas parcialmente en el subsistema local de procesamiento y obteniendo las posiciones relativas de los mismos. Para la obtención de estas posiciones el sistema analiza las imágenes obtenidas de los sensores inalámbricos en su campo de visión a través de los tres diodos luminosos (6, 7, 8) de diferentes colores, dispuestos en cada uno de ellos y teniendo en cuenta que se conocen las distancia reales (d1 , d2, d3) entre esos puntos y la resolución de la cámara, lo que permite obtener, mediante tratamiento de imágenes y triangulación, la disposición relativa de cada sensor inalámbrico respecto al que está capturando las imágenes. In parallel to the sampling, the wireless sensors equipped with an image-based location system analyze all the images obtained from the wireless sensors that are around them, partially processing them in the local processing subsystem and obtaining the relative positions of the same. To obtain these positions, the system analyzes the images obtained from the wireless sensors in your field of vision through the three LEDs (6, 7, 8) of different colors, arranged in each of them and taking into account that The actual distance (d1, d2, d3) between these points and the resolution of the camera are known, which makes it possible to obtain, by means of image processing and triangulation, the relative arrangement of each wireless sensor with respect to which the images are being captured.
Una vez realizado el ensayo, cada uno de los sensores inalámbricos (1 , 2, 3) envía mediante su transceptor inalámbrico para intercambio de datos, al ordenador servidor (5) a través del sensor de enlace inalámbrico (4) toda la información de las muestras obtenidas y del procesamiento local de las imágenes, permitiendo mediante el análisis de dicha información (muestras de señales y localización) de los diferentes sensores inalámbricos, interpretar el resultado del mismo.
Once the test has been carried out, each of the wireless sensors (1, 2, 3) sends through its wireless transceiver for data exchange, to the server computer (5) through the wireless link sensor (4) all the information of the samples obtained and the local processing of the images, allowing the analysis of said information (signal samples and location) of the different wireless sensors, interpreting the result.
Claims
1 . Sistema inalámbrico de bajo coste con localización automática basada en el tratamiento de imágenes para ensayos dinámicos de infraestructuras, caracterizado por comprender las siguientes etapas: a. etapa de adaptación de sensores inalámbricos b. etapa de adquisición de datos de alta velocidad c. etapa de radiofrecuencia en banda ISM para sincronización d. etapa de radiofrecuencia para intercambio de datos e. etapa de localización basada en el tratamiento de imágenes f. etapa de procesado e integración de información one . Low cost wireless system with automatic localization based on image processing for dynamic infrastructure tests, characterized by comprising the following stages: a. Adaptation stage of wireless sensors b. stage of high speed data acquisition c. ISM band radio frequency stage for synchronization d. radio frequency stage for data exchange e. localization stage based on image processing f. information processing and integration stage
Sistema inalámbrico de bajo coste con localización automática basada en el tratamiento de imágenes para ensayos dinámicos de infraestructuras según reivindicación 1 , caracterizado porque las etapas de adquisición, adaptación y radiofrecuencia se materializan mediante una pluralidad de sensores inalámbricos distribuidos en la infraestructura a monitorizar de los cuales al menos uno de se constituye como referencia del sistema. 3. Sistema inalámbrico de bajo coste con localización automática basada en el tratamiento de imágenes para ensayos dinámicos de infraestructuras según reivindicación 2, caracterizado porque además de los sensores inalámbricos, comprende: un módulo de adquisición de datos, un módulo inalámbrico de sincronización entre sensores, un módulo inalámbrico de comunicación entre sensores, un microcontrolador principal, tres puntos luminosos (diodos) de diferentes colores en cada sensor, para una localización óptica de los sensores y un sistema de localización basado en imágenes implementado por una cámara monitorizada. Sistema inalámbrico de bajo coste con localización automática basada en el tratamiento de imágenes para ensayos dinámicos de infraestructuras según reivindicación 3, caracterizado porque cada sensor inalámbrico se dispone dentro del campo de visión de al menos un sensor inalámbrico dotado del sistema de localización basado en imágenes. Low cost wireless system with automatic location based on the image processing for dynamic infrastructure tests according to claim 1, characterized in that the acquisition, adaptation and radiofrequency stages are materialized by a plurality of wireless sensors distributed in the infrastructure to be monitored of which at least one of it is constituted as a reference of the system. 3. Low cost wireless system with automatic localization based on image processing for dynamic infrastructure tests according to claim 2, characterized in that in addition to the wireless sensors, it comprises: a data acquisition module, a wireless synchronization module between sensors, a wireless module for communication between sensors, a main microcontroller, three light points (diodes) of different colors in each sensor, for an optical location of the sensors and an image-based location system implemented by a monitored camera. Low cost wireless system with automatic location based on the image processing for dynamic infrastructure tests according to claim 3, characterized in that each wireless sensor is arranged within the field of vision of at least one wireless sensor equipped with the image based location system.
Sistema inalámbrico de bajo coste con localización automática basada en el tratamiento de imágenes para ensayos dinámicos de infraestructuras según reivindicación 4, caracterizado porque la localización de cada sensor inalámbrico respecto al de referencia se realiza por triangulación de las imágenes detectadas consistentes en los tres puntos luminosos de diferentes colores de los que está dotado cada sensor. Low cost wireless system with automatic localization based on the image processing for dynamic infrastructure tests according to claim 4, characterized in that the location of each wireless sensor with respect to the reference is performed by triangulation of the detected images consisting of the three luminous points of different colors that each sensor is equipped with.
Sistema inalámbrico de bajo coste con localización automática basada en el tratamiento de imágenes para ensayos dinámicos de infraestructuras según reivindicaciones anteriores, caracterizado porque dispone de un sensor inalámbrico de enlace entre el resto de sensores y un ordenador servidor que conforma la etapa de procesado e integración de información. Low cost wireless system with automatic localization based on image processing for dynamic infrastructure tests according to previous claims, characterized in that it has a wireless link sensor between the other sensors and a server computer that forms the processing and integration stage of information.
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| ES201100052A ES2382293B1 (en) | 2011-01-20 | 2011-01-20 | LOW-COST WIRELESS SYSTEM WITH AUTOMATIC LOCATION BASED ON THE PROCESSING OF IMAGES FOR DYNAMIC TESTS OF INFRASTRUCTURES. |
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| WO2003085360A1 (en) * | 2002-04-03 | 2003-10-16 | Sri International | Sensor devices for structural health monitoring |
| WO2009063523A2 (en) * | 2007-11-16 | 2009-05-22 | Filippo Bastianini | Device for monitoring the health status of structures |
| CN101778405A (en) * | 2010-01-05 | 2010-07-14 | 武汉理工大学 | Method and system for synchronous acquisition of wireless sensor network for structural health monitoring |
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| WO2003085360A1 (en) * | 2002-04-03 | 2003-10-16 | Sri International | Sensor devices for structural health monitoring |
| WO2009063523A2 (en) * | 2007-11-16 | 2009-05-22 | Filippo Bastianini | Device for monitoring the health status of structures |
| CN101778405A (en) * | 2010-01-05 | 2010-07-14 | 武汉理工大学 | Method and system for synchronous acquisition of wireless sensor network for structural health monitoring |
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