WO2022183678A1 - Multi-camera photographing-based fatigue crack three-dimensional measurement system and method - Google Patents

Multi-camera photographing-based fatigue crack three-dimensional measurement system and method Download PDF

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WO2022183678A1
WO2022183678A1 PCT/CN2021/110603 CN2021110603W WO2022183678A1 WO 2022183678 A1 WO2022183678 A1 WO 2022183678A1 CN 2021110603 W CN2021110603 W CN 2021110603W WO 2022183678 A1 WO2022183678 A1 WO 2022183678A1
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camera
fatigue
definition
measurement system
photographed
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French (fr)
Chinese (zh)
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王佳
熊文
蔡春声
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东南大学
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/84—Systems specially adapted for particular applications
    • G01N21/88—Investigating the presence of flaws or contamination
    • G01N21/8806—Specially adapted optical and illumination features
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/84—Systems specially adapted for particular applications
    • G01N21/88—Investigating the presence of flaws or contamination
    • G01N21/8851—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/84—Systems specially adapted for particular applications
    • G01N21/88—Investigating the presence of flaws or contamination
    • G01N21/95—Investigating the presence of flaws or contamination characterised by the material or shape of the object to be examined
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N3/00—Investigating strength properties of solid materials by application of mechanical stress
    • G01N3/02—Details
    • G01N3/06—Special adaptations of indicating or recording means
    • G01N3/068—Special adaptations of indicating or recording means with optical indicating or recording means
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N3/00—Investigating strength properties of solid materials by application of mechanical stress
    • G01N3/32—Investigating strength properties of solid materials by application of mechanical stress by applying repeated or pulsating forces
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B15/00—Special procedures for taking photographs; Apparatus therefor
    • G03B15/02—Illuminating scene
    • G03B15/03—Combinations of cameras with lighting apparatus; Flash units
    • G03B15/05—Combinations of cameras with electronic flash apparatus; Electronic flash units
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B17/00—Details of cameras or camera bodies; Accessories therefor
    • G03B17/56—Accessories
    • G03B17/561—Support related camera accessories
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N2203/00—Investigating strength properties of solid materials by application of mechanical stress
    • G01N2203/02—Details not specific for a particular testing method
    • G01N2203/06—Indicating or recording means; Sensing means
    • G01N2203/0641—Indicating or recording means; Sensing means using optical, X-ray, ultraviolet, infrared or similar detectors
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N2203/00—Investigating strength properties of solid materials by application of mechanical stress
    • G01N2203/02—Details not specific for a particular testing method
    • G01N2203/06—Indicating or recording means; Sensing means
    • G01N2203/067—Parameter measured for estimating the property
    • G01N2203/0682—Spatial dimension, e.g. length, area, angle
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E30/00—Energy generation of nuclear origin
    • Y02E30/30—Nuclear fission reactors

Definitions

  • the invention belongs to the field of non-contact measurement, and particularly relates to a fatigue crack detection system and method.
  • the existing fatigue crack detection technologies include direct detection technologies such as penetrant testing and magnetic particle testing, and indirect non-destructive testing technologies such as ultrasonic testing, infrared testing, and eddy current testing.
  • direct detection technologies such as penetrant testing and magnetic particle testing
  • indirect non-destructive testing technologies such as ultrasonic testing, infrared testing, and eddy current testing.
  • the present invention proposes a three-dimensional measurement system and method for fatigue cracks photographed by multiple cameras.
  • the technical scheme of the present invention is:
  • a three-dimensional measurement system for fatigue cracks photographed by multiple cameras comprising a mobile measurement support, a high-brightness LED lighting belt, a ring support for the lighting belt, several high-definition cameras, a camera ring support, a camera lens distortion correction plate, a space camera calibration object and data processing system; the lighting belt ring support and the camera ring support are respectively fixed on the mobile measurement support, the high-brightness LED lighting belt is arranged on the lighting belt ring support, and the several high-definition cameras are evenly On the camera ring bracket, each high-definition camera is connected to the data processing system through a data cable, and the camera lens distortion correction plate faces the viewing angle of the high-definition camera and is photographed by the high-definition camera by rotating in-plane and out-plane.
  • the camera calibration object is located within the viewing angle range of all high-definition cameras, and the measurement system is initialized and calibrated.
  • the mobile measuring stand includes a tripod that can be folded and stored, and a high-strength aluminum alloy tube that can be adjusted in height and is connected to the tripod.
  • annular bracket of the lighting belt is connected with the high-strength aluminum alloy tube of the mobile measuring bracket through a bolt hoop, and the annular bracket of the lighting belt can cover a lighting range of 120°.
  • the camera ring bracket is connected to the high-strength aluminum alloy tube of the mobile measurement bracket through a bolt hoop, and the camera ring bracket can cover a shooting range of 120°.
  • the camera lens distortion correction plate is a flat plate with a white background and black dots, the diameters of the black dots are gradually changed from 2 mm to 6 mm, and are arranged at equal intervals of 10 mm.
  • the space camera calibration object is a cylinder with a white background and black squares, and the black squares have the same side length and are arranged at equal intervals.
  • the data processing system is configured with a fatigue crack automatic identification algorithm and a fatigue life prediction algorithm based on digital image correlation.
  • the measurement method of the fatigue crack three-dimensional measurement system based on the above-mentioned multi-camera shooting includes the following steps:
  • the camera lens distortion correction plate is facing the high-definition camera, and the angle of the correction plate is adjusted each time.
  • the lens of the high-definition camera is automatically corrected
  • the data processing system automatically identifies the fatigue crack generated and records the characteristic information, the characteristic information includes the strain peak value, valley value and fatigue crack depth around the fatigue crack;
  • the data processing system calculates the remaining fatigue life of the measured object through the fatigue life prediction algorithm according to the preload information and the recorded characteristic information, and updates the prediction result according to the real-time recorded characteristic information.
  • a is the crack size
  • N is the number of fatigue load cycles
  • R is the stress ratio
  • C0 is the fracture parameter when the stress ratio is zero
  • f is the Newman model crack closure parameter
  • ⁇ K is the stress intensity factor amplitude
  • ⁇ K th is the stress intensity factor amplitude threshold at the current stress ratio
  • K max is the maximum stress intensity factor in the stress intensity factor amplitude ⁇ K
  • K c represents the critical stress intensity factor
  • n, p and q are the fracture coefficients.
  • the measured object is a test specimen under fatigue loading in a laboratory or a component under dynamic load at an engineering site.
  • the software and hardware in the system of the present invention are simple in structure and controllable in cost, and can be flexibly equipped with high-definition cameras of different resolutions and LED lighting strips of different colors according to the requirements of the use environment, which can realize multi-level high-precision applications from teaching demonstration to engineering inspection, breaking through The commercial barriers of foreign companies are eliminated;
  • the invention deeply integrates crack identification, measurement and fatigue life prediction, realizes the intelligence and automation of fatigue detection, and avoids the strain field displacement field that the prior art is only used for structures.
  • Fig. 1 is the system structure schematic diagram of the present invention
  • FIG. 2 is a schematic diagram of the use of a camera lens distortion correction plate in the present invention
  • FIG. 3 is a schematic diagram of the use of a space camera calibration object in the present invention.
  • Fig. 4 is the flow chart of fatigue life prediction in the present invention.
  • the present invention designs a three-dimensional measurement system for fatigue cracks photographed by multiple cameras, as shown in FIG. 1, including a mobile measurement bracket 1, a high-brightness LED lighting belt 2, a lighting belt ring bracket 4, several high-definition cameras 3, a camera ring A bracket 5 , a camera lens distortion correction plate 6 , a space camera calibration object 7 and a data processing system 8 .
  • the lighting belt ring support and the camera ring support are respectively fixed on the mobile measurement support, the high-brightness LED lighting belt is arranged on the lighting belt ring support, and the several high-definition cameras are evenly placed on the camera.
  • each high-definition camera is connected to the data processing system through a data line 9.
  • the camera lens distortion correction plate is facing the viewing angle of the high-definition camera and is photographed by the high-definition camera by rotating in-plane and out-plane.
  • the space camera is calibrated
  • the object is located within the viewing angle of all high-definition cameras, and the measurement system is initialized and calibrated.
  • the high-brightness LED lighting belt can change the color according to the use environment, and has the characteristics of energy saving, high efficiency and anti-interference of ambient light.
  • Multiple high-definition cameras ensure that the object to be photographed is not limited by the shooting position of a single camera plane, avoiding the problem that traditional methods cannot accurately track and measure the development size and direction of fatigue cracks in space.
  • the mobile measurement stand includes a tripod that can be folded and stored, and a high-strength aluminum alloy tube that can be adjusted in height and is connected to the tripod.
  • the annular support of the lighting belt is connected to the high-strength aluminum alloy tube of the mobile measurement support through a bolt hoop, and the annular support of the lighting belt can cover a lighting range of 120°.
  • the camera ring bracket is connected with the high-strength aluminum alloy tube of the mobile measurement bracket through a bolt hoop, and the camera ring bracket can cover a shooting range of 120°.
  • the technical specifications and quantities of the high-definition cameras can be matched according to the use environment, the resolution range can be selected as 1 ⁇ m/pixel ⁇ 1000 ⁇ m/pixel, and the videos and pictures captured by the high-definition camera can be stored in the built-in memory card or It is transmitted to the data processing system through the data line.
  • the camera lens distortion correction plate is a flat plate with a white background and black dots, the diameters of the black dots are gradually changed from 2 mm to 6 mm, and are arranged at equal intervals of 10 mm.
  • the space camera calibration object is a cylinder with a white background and black squares, and the black squares have the same side length and are arranged at equal intervals.
  • the data processing system is configured with an automatic fatigue crack identification algorithm and a fatigue life prediction algorithm based on digital image correlation. Function to measure crack size.
  • the present invention also designs a method for measuring the fatigue crack three-dimensional measurement system based on the above-mentioned multi-camera photography, and the steps are as follows:
  • Step 1 Adjust the angle of the mobile measuring stand and the high-definition camera, and turn on the high-brightness LED lighting strip;
  • Step 2 As shown in Figure 2, put the camera lens distortion correction plate facing the high-definition camera, adjust the angle of the correction plate each time, the high-definition camera shoots and saves a set of corresponding photos, and transmits the photos to the data processing system through the data line The data processing system automatically corrects the lens of the high-definition camera according to the photo;
  • Step 3 As shown in Figure 3, place the space camera calibration object within the viewing angle range of the high-definition camera, and every two high-definition cameras have at least 50% of the common viewing angle coverage.
  • the coverage percentage is obtained by shooting the black square on the space camera calibration object. Column serial number is determined;
  • Step 4 Scrub the surface of the object to be tested with alcohol, spray white paint evenly first, and then spray black paint to make a speckle pattern;
  • Step 5 Start the measurement system to continuously detect the object to be measured, and the data processing system automatically identifies the generated fatigue cracks and records characteristic information, the characteristic information includes strain peaks, valleys around the fatigue cracks, and fatigue crack depths;
  • Step 6 The data processing system calculates the remaining fatigue life of the measured object through the fatigue life prediction algorithm according to the preloaded information and the recorded characteristic information, and updates the prediction result according to the real-time recorded characteristic information.
  • the fatigue life prediction algorithm is shown in Figure 4, where a is the crack size, N is the number of fatigue load cycles, R is the stress ratio, C0 is the fracture parameter when the stress ratio is zero, and f is the Newman model crack closure parameter , ⁇ K is the SIF amplitude, ⁇ K th is the SIF amplitude threshold at the current stress ratio, K c is the critical SIF, n, p, and q are the fracture coefficients, ⁇ is the stress amplitude, and Y is the dimensionless geometry Parameters, related to crack morphology, member geometry and load placement, ⁇ max is the stress peak value of the cyclic stress and K max is the maximum stress intensity factor in the stress intensity factor amplitude ⁇ K.
  • the embodiment is only to illustrate the technical idea of the present invention, and cannot limit the protection scope of the present invention. Any changes made on the basis of the technical solution according to the technical idea proposed by the present invention all fall within the protection scope of the present invention. .

Abstract

Disclosed are a multi-camera photographing-based fatigue crack three-dimensional measurement system and a method. The system comprises a movable measurement tripod, a high-brightness LED lighting strip, a lighting strip annular support, a plurality of high-definition cameras, a camera annular support, a camera lens distortion correction plate, a space camera calibration object, and a data processing system. The present invention has the advantages of being flexible in assembly, simple and convenient to operate, suitable for a complex use environment, etc., and can achieve measurement of fatigue cracks and fatigue life of an object in a low-cost, high-precision, multi-scale, and intelligent manner.

Description

一种多相机拍摄的疲劳裂纹三维测量系统和方法A three-dimensional measurement system and method for fatigue cracks photographed by multiple cameras 技术领域technical field
本发明属于非接触式测量领域，特别涉及了一种疲劳裂纹检测系统和方法。The invention belongs to the field of non-contact measurement, and particularly relates to a fatigue crack detection system and method.
背景技术Background technique
在工程结构领域，通常大部分桥梁、轨道以及厂房等在其寿命周期内承受长期循环荷载(包括地震荷载、车致振动和风致振动等)，结构材料会因这些百万次动态循环荷载而受到损伤，进而导致金属毫无征兆地开裂破坏，即为疲劳破坏。由于属于脆性破坏，疲劳破坏会对结构安全和耐久性构成极大的威胁。然而这种灾害在工程领域中不可避免，必须对其加以重视，以便掌握疲劳诱发因素、破坏机理和预防措施。其中对疲劳破坏机理的掌握重点在于如何快速有效识别并测量疲劳裂纹，现有的疲劳裂纹检测技术包括渗透检测、磁粉检测等直接检测技术以及超声检测、红外检测、涡流检测等间接无损检测技术。然而，这些技术目前在国内研究和工程应用领域存在以下不足：In the field of engineering structures, most bridges, tracks and workshops usually bear long-term cyclic loads (including seismic loads, vehicle-induced vibration and wind-induced vibration, etc.) during their life cycles, and structural materials will be affected by these millions of dynamic cyclic loads. The damage, which in turn causes the metal to crack and fail without warning, is called fatigue failure. Due to brittle failure, fatigue failure poses a great threat to structural safety and durability. However, this kind of disaster is inevitable in the engineering field, and it must be paid attention to in order to grasp the fatigue-inducing factors, damage mechanism and preventive measures. Among them, the key to mastering the fatigue failure mechanism is how to quickly and effectively identify and measure fatigue cracks. The existing fatigue crack detection technologies include direct detection technologies such as penetrant testing and magnetic particle testing, and indirect non-destructive testing technologies such as ultrasonic testing, infrared testing, and eddy current testing. However, these technologies currently have the following deficiencies in domestic research and engineering applications:
第一、渗透检测、磁粉检测等直接检测技术虽能识别疲劳裂纹，却无法快速可靠测量裂纹发展大小，进而无法预测疲劳寿命；超声检测、红外检测等间接无损检测技术设备部署复杂繁琐，无法实现检测系统的自动化、智能化。First, although direct detection technologies such as penetrant testing and magnetic particle testing can identify fatigue cracks, they cannot quickly and reliably measure the size of crack development, and thus cannot predict fatigue life. The automation and intelligence of the detection system.
第二、现有的检测手段大部分应用于机械领域，对土木工程领域的大型结构疲劳测量需要耗费大量人力物力，尤其是对大跨桥梁以及高层建筑的疲劳裂纹，无法实现简单快速、廉价可靠的检测。Second, most of the existing detection methods are used in the mechanical field. The fatigue measurement of large-scale structures in the field of civil engineering requires a lot of manpower and material resources, especially for fatigue cracks in long-span bridges and high-rise buildings, which cannot be simple, fast, cheap and reliable. detection.
第三、目前对疲劳裂纹的识别测量仅停留在二维平面，对于复杂结构或者管柱系构件(如螺栓、吊杆等)的三维疲劳裂纹无法精确测量。Third, the current identification and measurement of fatigue cracks only stays in the two-dimensional plane, and the three-dimensional fatigue cracks of complex structures or pipe string components (such as bolts, suspenders, etc.) cannot be accurately measured.
数字图像相关技术已应用于工程领域的应变场位移场检测中，然而目前国内外相关商用产品仅采用单个或两个机位拍摄物体，无法有效捕捉空间尺度下的疲劳裂纹，同时现有产品并未真正实现关于疲劳裂纹的测量和疲劳寿命的预测等系统的功能。此外，昂贵的商业设备以及复杂专业的操作流程进一步限制了相关测量系统的普及，难以实现工程结构领域的全面推广。Digital image correlation technology has been applied to the detection of strain field and displacement field in the engineering field. However, at present, related commercial products at home and abroad only use one or two cameras to shoot objects, which cannot effectively capture fatigue cracks at the spatial scale. The functions of the system such as the measurement of fatigue cracks and the prediction of fatigue life are not really realized. In addition, expensive commercial equipment and complex and professional operation procedures further limit the popularization of related measurement systems, and it is difficult to achieve a comprehensive promotion in the field of engineering structures.
发明内容SUMMARY OF THE INVENTION
为了解决上述背景技术提到的技术问题，本发明提出了一种多相机拍摄的疲劳裂纹三维测量系统和方法。In order to solve the technical problems mentioned in the above background art, the present invention proposes a three-dimensional measurement system and method for fatigue cracks photographed by multiple cameras.
为了实现上述技术目的，本发明的技术方案为：In order to realize the above-mentioned technical purpose, the technical scheme of the present invention is:
一种多相机拍摄的疲劳裂纹三维测量系统，包括移动式测量支架、高亮度LED照明带、照明带环形支架、若干台高清相机、相机环形支架、相机镜头扭曲矫正板、空间相机标定物以及数据处理系统；所述照明带环形支架和相机环形支架分别固定在所述移动式测量支架上，所述高亮度LED照明带设置在所述照明带环形支架上，所述若干台高清相机均匀分别在所述相机环形支架上，各高清相机通过数据线与所述数据处理系统连接，所述相机镜头扭曲矫正板正对高清相机的视角并通过面内面外旋转的方式被高清相机拍摄，所述空间相 机标定物位于所有高清相机的视角范围内，对测量系统进行初始化标定。A three-dimensional measurement system for fatigue cracks photographed by multiple cameras, comprising a mobile measurement support, a high-brightness LED lighting belt, a ring support for the lighting belt, several high-definition cameras, a camera ring support, a camera lens distortion correction plate, a space camera calibration object and data processing system; the lighting belt ring support and the camera ring support are respectively fixed on the mobile measurement support, the high-brightness LED lighting belt is arranged on the lighting belt ring support, and the several high-definition cameras are evenly On the camera ring bracket, each high-definition camera is connected to the data processing system through a data cable, and the camera lens distortion correction plate faces the viewing angle of the high-definition camera and is photographed by the high-definition camera by rotating in-plane and out-plane. The camera calibration object is located within the viewing angle range of all high-definition cameras, and the measurement system is initialized and calibrated.
进一步地，所述移动式测量支架包括能够折叠收放的三脚架以及与该三脚架连接的能够调节高度的高强度铝合金管。Further, the mobile measuring stand includes a tripod that can be folded and stored, and a high-strength aluminum alloy tube that can be adjusted in height and is connected to the tripod.
进一步地，所述照明带环形支架通过螺栓抱箍与移动式测量支架的高强度铝合金管连接，所述照明带环形支架能够覆盖120°的照明范围。Further, the annular bracket of the lighting belt is connected with the high-strength aluminum alloy tube of the mobile measuring bracket through a bolt hoop, and the annular bracket of the lighting belt can cover a lighting range of 120°.
进一步地，所述相机环形支架通过螺栓抱箍与移动式测量支架的高强度铝合金管连接，所述相机环形支架能够覆盖120°的拍摄范围。Further, the camera ring bracket is connected to the high-strength aluminum alloy tube of the mobile measurement bracket through a bolt hoop, and the camera ring bracket can cover a shooting range of 120°.
进一步地，所述相机镜头扭曲矫正板为具有白色背景、黑色圆点的平板，所述黑色圆点的直径由2mm到6mm渐变，且10mm等间距排列。Further, the camera lens distortion correction plate is a flat plate with a white background and black dots, the diameters of the black dots are gradually changed from 2 mm to 6 mm, and are arranged at equal intervals of 10 mm.
进一步地，所述空间相机标定物为具有白色背景、黑色方片的圆柱体，所述黑色方片的边长相同，且等间距排列。Further, the space camera calibration object is a cylinder with a white background and black squares, and the black squares have the same side length and are arranged at equal intervals.
进一步地，所述数据处理系统配置有基于数字图像相关的疲劳裂纹自动识别算法和疲劳寿命预测算法。Further, the data processing system is configured with a fatigue crack automatic identification algorithm and a fatigue life prediction algorithm based on digital image correlation.
基于上述多相机拍摄的疲劳裂纹三维测量系统的测量方法，包括以下步骤：The measurement method of the fatigue crack three-dimensional measurement system based on the above-mentioned multi-camera shooting includes the following steps:
(1)调整移动式测量支架和高清相机的角度，开启高亮度LED照明带；(1) Adjust the angle of the mobile measuring bracket and the high-definition camera, and turn on the high-brightness LED lighting belt;
(2)将相机镜头扭曲矫正板正对高清相机，每次调整矫正板的角度，高清相机拍摄保存一组对应的照片，并将照片通过数据线传送给数据处理系统，数据处理系统根据照片对高清相机的镜头进行自动矫正；(2) The camera lens distortion correction plate is facing the high-definition camera, and the angle of the correction plate is adjusted each time. The lens of the high-definition camera is automatically corrected;
(3)将空间相机标定物放置在高清相机视角范围内，每两个高清相机至少有50％的共同视角覆盖，该覆盖百分比通过拍摄空间相机标定物上黑色方片的列序号确定；(3) Place the space camera calibration object within the viewing angle range of the high-definition camera, and every two high-definition cameras have at least 50% of the common viewing angle coverage, and the coverage percentage is determined by shooting the serial number of the black square on the space camera calibration object;
(4)将被测物体表面使用酒精擦洗干净，先均匀喷涂白漆，然后点喷黑漆制作散斑图；(4) Scrub the surface of the object to be tested with alcohol, spray white paint evenly first, and then spray black paint to make a speckle pattern;
(5)启动测量系统，对被测物体持续进行检测，数据处理系统自动识别产生的疲劳裂纹并记录特征信息，所述特征信息包括疲劳裂纹周围应变峰值、谷值和疲劳裂纹深度；(5) Start the measurement system to continuously detect the object to be measured, and the data processing system automatically identifies the fatigue crack generated and records the characteristic information, the characteristic information includes the strain peak value, valley value and fatigue crack depth around the fatigue crack;
(6)数据处理系统根据预加载信息和记录的特征信息通过疲劳寿命预测算法计算被测物体的剩余疲劳寿命，并根据实时记录的特征信息更新预测结果。(6) The data processing system calculates the remaining fatigue life of the measured object through the fatigue life prediction algorithm according to the preload information and the recorded characteristic information, and updates the prediction result according to the real-time recorded characteristic information.
进一步地，所述疲劳寿命预测算法的公式如下：Further, the formula of the fatigue life prediction algorithm is as follows:
Figure PCTCN2021110603-appb-000001
Figure PCTCN2021110603-appb-000001
上式中，a是裂纹尺寸，N是疲劳荷载循环次数，R是应力比，C 0是应力比为零时的断裂参数，f表示Newman模型裂纹闭合参数，ΔK是应力强度因子幅，ΔK th是当前应力比下的应力强度因子幅阈值，K max是在应力强度因子幅ΔK中的最大应力强度因子，K c代表关键应力强度因子，n、p和q为断裂系数。 where a is the crack size, N is the number of fatigue load cycles, R is the stress ratio, C0 is the fracture parameter when the stress ratio is zero, f is the Newman model crack closure parameter, ΔK is the stress intensity factor amplitude, ΔK th is the stress intensity factor amplitude threshold at the current stress ratio, K max is the maximum stress intensity factor in the stress intensity factor amplitude ΔK, K c represents the critical stress intensity factor, and n, p and q are the fracture coefficients.
进一步地，所述被测物体为试验室中正在疲劳加载的测试试件或者为工程现场正承受动荷载的构件。Further, the measured object is a test specimen under fatigue loading in a laboratory or a component under dynamic load at an engineering site.
采用上述技术方案带来的有益效果：The beneficial effects brought by the above technical solutions:
首先，本发明系统中软硬件构成简单、成本可控，根据使用环境要求可灵活配备不同分辨率的高清相机以及不同色调的LED照明带，能够实现从教学演示到工程检测多层级高精度应用，突破了国外公司的商业壁垒；其次，本发明将裂纹识别、测量以及疲劳寿命预 测进行了深度融合，实现了疲劳检测的智能化、自动化，避免了现有技术仅限用于结构的应变场位移场测量的问题；最后，由于采用了多相机拍摄，能够实现对复杂结构或者管柱体系构件(如螺栓、吊杆)的三维疲劳裂纹检测，解决了现有测量系统无法在空间坐标系下有效拼接处理多角度图像的问题。First of all, the software and hardware in the system of the present invention are simple in structure and controllable in cost, and can be flexibly equipped with high-definition cameras of different resolutions and LED lighting strips of different colors according to the requirements of the use environment, which can realize multi-level high-precision applications from teaching demonstration to engineering inspection, breaking through The commercial barriers of foreign companies are eliminated; secondly, the invention deeply integrates crack identification, measurement and fatigue life prediction, realizes the intelligence and automation of fatigue detection, and avoids the strain field displacement field that the prior art is only used for structures. Finally, due to the use of multi-camera shooting, it is possible to realize the three-dimensional fatigue crack detection of complex structures or pipe string system components (such as bolts, suspenders), which solves the problem that the existing measurement system cannot be effectively spliced in the space coordinate system. Problems dealing with multi-angle images.
附图说明Description of drawings
图1为本发明的系统结构示意图；Fig. 1 is the system structure schematic diagram of the present invention;
图2为本发明中相机镜头扭曲矫正板使用示意图；2 is a schematic diagram of the use of a camera lens distortion correction plate in the present invention;
图3为本发明中空间相机标定物使用示意图；3 is a schematic diagram of the use of a space camera calibration object in the present invention;
图4为本发明中疲劳寿命预测的流程图；Fig. 4 is the flow chart of fatigue life prediction in the present invention;
标号说明：1、移动式测量支架；2、高亮度LED照明带；3、高清相机；4、照明带环形支架；5、相机环形支架；6、相机镜头扭曲矫正板；7、空间相机标定物；8、数据处理系统；9、数据线。Label description: 1. Mobile measurement bracket; 2. High-brightness LED lighting belt; 3. High-definition camera; 4. Lighting belt ring bracket; 5. Camera ring bracket; 6. Camera lens distortion correction plate; 7. Space camera calibration object 8. Data processing system; 9. Data line.
具体实施方式Detailed ways
以下将结合附图，对本发明的技术方案进行详细说明。The technical solutions of the present invention will be described in detail below with reference to the accompanying drawings.
本发明设计了一种多相机拍摄的疲劳裂纹三维测量系统，如图1所示，包括移动式测量支架1、高亮度LED照明带2、照明带环形支架4、若干台高清相机3、相机环形支架5、相机镜头扭曲矫正板6、空间相机标定物7以及数据处理系统8。所述照明带环形支架和相机环形支架分别固定在所述移动式测量支架上，所述高亮度LED照明带设置在所述照明带环形支架上，所述若干台高清相机均匀分别在所述相机环形支架上，各高清相机通过数据线9与所述数据处理系统连接，所述相机镜头扭曲矫正板正对高清相机的视角并通过面内面外旋转的方式被高清相机拍摄，所述空间相机标定物位于所有高清相机的视角范围内，对测量系统进行初始化标定。高亮度LED照明带可根据使用环境更换色调，具有节能、高效、抗环境光干扰的特点。多台高清相机保证了被拍摄物体不受单个相机平面拍摄位置限制，避免了传统方法无法准确跟踪测量疲劳裂纹在空间范围发展大小和方向等问题。The present invention designs a three-dimensional measurement system for fatigue cracks photographed by multiple cameras, as shown in FIG. 1, including a mobile measurement bracket 1, a high-brightness LED lighting belt 2, a lighting belt ring bracket 4, several high-definition cameras 3, a camera ring A bracket 5 , a camera lens distortion correction plate 6 , a space camera calibration object 7 and a data processing system 8 . The lighting belt ring support and the camera ring support are respectively fixed on the mobile measurement support, the high-brightness LED lighting belt is arranged on the lighting belt ring support, and the several high-definition cameras are evenly placed on the camera. On the ring bracket, each high-definition camera is connected to the data processing system through a data line 9. The camera lens distortion correction plate is facing the viewing angle of the high-definition camera and is photographed by the high-definition camera by rotating in-plane and out-plane. The space camera is calibrated The object is located within the viewing angle of all high-definition cameras, and the measurement system is initialized and calibrated. The high-brightness LED lighting belt can change the color according to the use environment, and has the characteristics of energy saving, high efficiency and anti-interference of ambient light. Multiple high-definition cameras ensure that the object to be photographed is not limited by the shooting position of a single camera plane, avoiding the problem that traditional methods cannot accurately track and measure the development size and direction of fatigue cracks in space.
在本实施例中，优选地，所述移动式测量支架包括能够折叠收放的三脚架以及与该三脚架连接的能够调节高度的高强度铝合金管。In this embodiment, preferably, the mobile measurement stand includes a tripod that can be folded and stored, and a high-strength aluminum alloy tube that can be adjusted in height and is connected to the tripod.
在本实施例中，优选地，所述照明带环形支架通过螺栓抱箍与移动式测量支架的高强度铝合金管连接，所述照明带环形支架能够覆盖120°的照明范围。所述相机环形支架通过螺栓抱箍与移动式测量支架的高强度铝合金管连接，所述相机环形支架能够覆盖120°的拍摄范围。通过组装3架测量系统，可对被测物体进行360°全角度疲劳裂纹测量。In this embodiment, preferably, the annular support of the lighting belt is connected to the high-strength aluminum alloy tube of the mobile measurement support through a bolt hoop, and the annular support of the lighting belt can cover a lighting range of 120°. The camera ring bracket is connected with the high-strength aluminum alloy tube of the mobile measurement bracket through a bolt hoop, and the camera ring bracket can cover a shooting range of 120°. By assembling 3 measuring systems, 360° full-angle fatigue crack measurement can be performed on the measured object.
在本实施例中，优选地，高清相机技术规格和数量可根据使用环境搭配，分辨率范围可选定为1μm/像素～1000μm/像素，高清相机拍摄的视频和图片可存储在内置储存卡或通过数据线传输到数据处理系统中。In this embodiment, preferably, the technical specifications and quantities of the high-definition cameras can be matched according to the use environment, the resolution range can be selected as 1 μm/pixel～1000 μm/pixel, and the videos and pictures captured by the high-definition camera can be stored in the built-in memory card or It is transmitted to the data processing system through the data line.
在本实施例中，优选地，相机镜头扭曲矫正板为具有白色背景、黑色圆点的平板，所述黑色圆点的直径由2mm到6mm渐变，且10mm等间距排列。In this embodiment, preferably, the camera lens distortion correction plate is a flat plate with a white background and black dots, the diameters of the black dots are gradually changed from 2 mm to 6 mm, and are arranged at equal intervals of 10 mm.
在本实施例中，优选地，所述空间相机标定物为具有白色背景、黑色方片的圆柱体，所述黑色方片的边长相同，且等间距排列。In this embodiment, preferably, the space camera calibration object is a cylinder with a white background and black squares, and the black squares have the same side length and are arranged at equal intervals.
在本实施例中，优选地，所述数据处理系统配置有基于数字图像相关的疲劳裂纹自动识别算法和疲劳寿命预测算法，基于数字图像相关的疲劳裂纹自动识别算法具有自动识别疲劳裂纹空间位置和测算裂纹尺寸的功能。In this embodiment, preferably, the data processing system is configured with an automatic fatigue crack identification algorithm and a fatigue life prediction algorithm based on digital image correlation. Function to measure crack size.
本发明还设计了一种基于上述多相机拍摄的疲劳裂纹三维测量系统的测量方法，步骤如下：The present invention also designs a method for measuring the fatigue crack three-dimensional measurement system based on the above-mentioned multi-camera photography, and the steps are as follows:
步骤1：调整移动式测量支架和高清相机的角度，开启高亮度LED照明带；Step 1: Adjust the angle of the mobile measuring stand and the high-definition camera, and turn on the high-brightness LED lighting strip;
步骤2：如图2所示，将相机镜头扭曲矫正板正对高清相机，每次调整矫正板的角度，高清相机拍摄保存一组对应的照片，并将照片通过数据线传送给数据处理系统，数据处理系统根据照片对高清相机的镜头进行自动矫正；Step 2: As shown in Figure 2, put the camera lens distortion correction plate facing the high-definition camera, adjust the angle of the correction plate each time, the high-definition camera shoots and saves a set of corresponding photos, and transmits the photos to the data processing system through the data line The data processing system automatically corrects the lens of the high-definition camera according to the photo;
步骤3：如图3所示，将空间相机标定物放置在高清相机视角范围内，每两个高清相机至少有50％的共同视角覆盖，该覆盖百分比通过拍摄空间相机标定物上黑色方片的列序号确定；Step 3: As shown in Figure 3, place the space camera calibration object within the viewing angle range of the high-definition camera, and every two high-definition cameras have at least 50% of the common viewing angle coverage. The coverage percentage is obtained by shooting the black square on the space camera calibration object. Column serial number is determined;
步骤4:将被测物体表面使用酒精擦洗干净，先均匀喷涂白漆，然后点喷黑漆制作散斑图；Step 4: Scrub the surface of the object to be tested with alcohol, spray white paint evenly first, and then spray black paint to make a speckle pattern;
步骤5：启动测量系统，对被测物体持续进行检测，数据处理系统自动识别产生的疲劳裂纹并记录特征信息，所述特征信息包括疲劳裂纹周围应变峰值、谷值和疲劳裂纹深度；Step 5: Start the measurement system to continuously detect the object to be measured, and the data processing system automatically identifies the generated fatigue cracks and records characteristic information, the characteristic information includes strain peaks, valleys around the fatigue cracks, and fatigue crack depths;
步骤6：数据处理系统根据预加载信息和记录的特征信息通过疲劳寿命预测算法计算被测物体的剩余疲劳寿命，并根据实时记录的特征信息更新预测结果。Step 6: The data processing system calculates the remaining fatigue life of the measured object through the fatigue life prediction algorithm according to the preloaded information and the recorded characteristic information, and updates the prediction result according to the real-time recorded characteristic information.
所述疲劳寿命预测算法如图4所示，图中a是裂纹尺寸，N是疲劳荷载循环次数，R是应力比，C 0是应力比为零时的断裂参数，f表示Newman模型裂纹闭合参数，ΔK是应力强度因子幅，ΔK th是当前应力比下的应力强度因子幅阈值，K c代表关键应力强度因子，n、p和q为断裂系数，Δσ为应力幅值，Y为无量纲几何参数，与裂纹形态，构件几何以及荷载布置有关，σ max为循环应力的应力峰值，K max为在应力强度因子幅ΔK中的最大应力强度因子。 The fatigue life prediction algorithm is shown in Figure 4, where a is the crack size, N is the number of fatigue load cycles, R is the stress ratio, C0 is the fracture parameter when the stress ratio is zero, and f is the Newman model crack closure parameter , ΔK is the SIF amplitude, ΔK th is the SIF amplitude threshold at the current stress ratio, K c is the critical SIF, n, p, and q are the fracture coefficients, Δσ is the stress amplitude, and Y is the dimensionless geometry Parameters, related to crack morphology, member geometry and load placement, σ max is the stress peak value of the cyclic stress and K max is the maximum stress intensity factor in the stress intensity factor amplitude ΔK.
实施例仅为说明本发明的技术思想，不能以此限定本发明的保护范围，凡是按照本发明提出的技术思想，在技术方案基础上所做的任何改动，均落入本发明保护范围之内。The embodiment is only to illustrate the technical idea of the present invention, and cannot limit the protection scope of the present invention. Any changes made on the basis of the technical solution according to the technical idea proposed by the present invention all fall within the protection scope of the present invention. .

Claims (10)

  1. 一种多相机拍摄的疲劳裂纹三维测量系统，其特征在于：包括移动式测量支架、高亮度LED照明带、照明带环形支架、若干台高清相机、相机环形支架、相机镜头扭曲矫正板、空间相机标定物以及数据处理系统；所述照明带环形支架和相机环形支架分别固定在所述移动式测量支架上，所述高亮度LED照明带设置在所述照明带环形支架上，所述若干台高清相机均匀分别在所述相机环形支架上，各高清相机通过数据线与所述数据处理系统连接，所述相机镜头扭曲矫正板正对高清相机的视角并通过面内面外旋转的方式被高清相机拍摄，所述空间相机标定物位于所有高清相机的视角范围内，对测量系统进行初始化标定。A three-dimensional measurement system for fatigue cracks photographed by multiple cameras, which is characterized in that it includes a mobile measurement bracket, a high-brightness LED lighting belt, a lighting belt annular bracket, several high-definition cameras, a camera annular bracket, a camera lens distortion correction plate, and a space camera. A calibration object and a data processing system; the lighting belt ring support and the camera ring support are respectively fixed on the mobile measurement support, the high-brightness LED lighting belt is arranged on the lighting belt ring support, the several high-definition The cameras are evenly placed on the camera ring brackets, each high-definition camera is connected to the data processing system through a data cable, and the camera lens distortion correction plate faces the viewing angle of the high-definition camera and is photographed by the high-definition camera by rotating in-plane and out-of-plane. , the space camera calibration object is located within the viewing angle range of all high-definition cameras, and the measurement system is initialized and calibrated.
  2. 根据权利要求1所述多相机拍摄的疲劳裂纹三维测量系统，其特征在于：所述移动式测量支架包括能够折叠收放的三脚架以及与该三脚架连接的能够调节高度的高强度铝合金管。The three-dimensional measurement system for fatigue cracks photographed by multiple cameras according to claim 1, wherein the mobile measurement support comprises a tripod that can be folded and retracted, and a high-strength aluminum alloy tube that can be adjusted in height connected to the tripod.
  3. 根据权利要求2所述多相机拍摄的疲劳裂纹三维测量系统，其特征在于：所述照明带环形支架通过螺栓抱箍与移动式测量支架的高强度铝合金管连接，所述照明带环形支架能够覆盖120°的照明范围。The three-dimensional measurement system for fatigue cracks photographed by multi-cameras according to claim 2, characterized in that: the annular support of the lighting belt is connected to the high-strength aluminum alloy pipe of the mobile measurement support through a bolt hoop, and the annular support of the lighting belt can Covers a 120° lighting range.
  4. 根据权利要求2所述多相机拍摄的疲劳裂纹三维测量系统，其特征在于：所述相机环形支架通过螺栓抱箍与移动式测量支架的高强度铝合金管连接，所述相机环形支架能够覆盖120°的拍摄范围。The three-dimensional measurement system for fatigue cracks photographed by multiple cameras according to claim 2, wherein the camera ring bracket is connected to the high-strength aluminum alloy tube of the mobile measurement bracket through a bolt hoop, and the camera ring bracket can cover 120 ° shooting range.
  5. 根据权利要求1所述多相机拍摄的疲劳裂纹三维测量系统，其特征在于：所述相机镜头扭曲矫正板为具有白色背景、黑色圆点的平板，所述黑色圆点的直径由2mm到6mm渐变，且10mm等间距排列。The three-dimensional measurement system for fatigue cracks photographed by multiple cameras according to claim 1, wherein the camera lens distortion correction plate is a flat plate with a white background and black dots, and the diameter of the black dots gradually changes from 2mm to 6mm , and 10mm equally spaced arrangement.
  6. 根据权利要求1所述多相机拍摄的疲劳裂纹三维测量系统，其特征在于：所述空间相机标定物为具有白色背景、黑色方片的圆柱体，所述黑色方片的边长相同，且等间距排列。The three-dimensional measurement system for fatigue cracks photographed by multiple cameras according to claim 1, characterized in that: the space camera calibration object is a cylinder with a white background and black squares, and the black squares have the same side lengths and are equal to spacing arrangement.
  7. 根据权利要求1所述多相机拍摄的疲劳裂纹三维测量系统，其特征在于：所述数据处理系统配置有基于数字图像相关的疲劳裂纹自动识别算法和疲劳寿命预测算法。The three-dimensional measurement system for fatigue cracks photographed by multiple cameras according to claim 1, wherein the data processing system is configured with an automatic fatigue crack identification algorithm and a fatigue life prediction algorithm based on digital image correlation.
  8. 基于权利要求1所述多相机拍摄的疲劳裂纹三维测量系统的测量方法，其特征在于，包括以下步骤：The measurement method based on the three-dimensional fatigue crack measurement system photographed by the multi-camera of claim 1, is characterized in that, comprises the following steps:
    (1)调整移动式测量支架和高清相机的角度，开启高亮度LED照明带；(1) Adjust the angle of the mobile measuring bracket and the high-definition camera, and turn on the high-brightness LED lighting belt;
    (2)将相机镜头扭曲矫正板正对高清相机，每次调整矫正板的角度，高清相机拍摄保存一组对应的照片，并将照片通过数据线传送给数据处理系统，数据处理系统根据照片对高清相机的镜头进行自动矫正；(2) The camera lens distortion correction plate is facing the high-definition camera, and the angle of the correction plate is adjusted each time. The high-definition camera shoots and saves a set of corresponding photos, and transmits the photos to the data processing system through the data line. The lens of the high-definition camera is automatically corrected;
    (3)将空间相机标定物放置在高清相机视角范围内，每两个高清相机至少有50％的共同视角覆盖，该覆盖百分比通过拍摄空间相机标定物上黑色方片的列序号确定；(3) Place the space camera calibration object within the viewing angle range of the high-definition camera, and every two high-definition cameras have at least 50% of the common viewing angle coverage, and the coverage percentage is determined by shooting the serial number of the black square on the space camera calibration object;
    (4)将被测物体表面使用酒精擦洗干净，先均匀喷涂白漆，然后点喷黑漆制作散斑图；(4) Scrub the surface of the object to be tested with alcohol, spray white paint evenly first, and then spray black paint to make a speckle pattern;
    (5)启动测量系统，对被测物体持续进行检测，数据处理系统自动识别产生的疲劳裂纹并记录特征信息，所述特征信息包括疲劳裂纹周围应变峰值、谷值和疲劳裂纹深度；(5) Start the measurement system to continuously detect the object to be measured, and the data processing system automatically identifies the fatigue crack generated and records the characteristic information, the characteristic information includes the strain peak value, valley value and fatigue crack depth around the fatigue crack;
    (6)数据处理系统根据预加载信息和记录的特征信息通过疲劳寿命预测算法计算被测物体的剩余疲劳寿命，并根据实时记录的特征信息更新预测结果。(6) The data processing system calculates the remaining fatigue life of the measured object through the fatigue life prediction algorithm according to the preload information and the recorded characteristic information, and updates the prediction result according to the real-time recorded characteristic information.
  9. 根据权利要求8所述测量方法，其特征在于，所述疲劳寿命预测算法的公式如下：The measurement method according to claim 8, wherein the formula of the fatigue life prediction algorithm is as follows:
    Figure PCTCN2021110603-appb-100001
    Figure PCTCN2021110603-appb-100001
    上式中，a是裂纹尺寸，N是疲劳荷载循环次数，R是应力比，C 0是应力比为零时的断裂参数，f表示Newman模型裂纹闭合参数，ΔK是应力强度因子幅，ΔK th是当前应力比下的应力强度因子幅阈值，K max是在应力强度因子幅ΔK中的最大应力强度因子，K c代表关键应力强度因子，n、p和q为断裂系数。 where a is the crack size, N is the number of fatigue load cycles, R is the stress ratio, C0 is the fracture parameter when the stress ratio is zero, f is the Newman model crack closure parameter, ΔK is the stress intensity factor amplitude, ΔK th is the stress intensity factor amplitude threshold at the current stress ratio, K max is the maximum stress intensity factor in the stress intensity factor amplitude ΔK, K c represents the critical stress intensity factor, and n, p and q are the fracture coefficients.
  10. 根据权利要求8所述测量方法，其特征在于，所述被测物体为试验室中正在疲劳加载的测试试件或者为工程现场正承受动荷载的构件。The measurement method according to claim 8, wherein the measured object is a test specimen under fatigue loading in a laboratory or a component under dynamic load at a project site.
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