Method of measuring vertical disturbance of high-speed railway bridge based on UAV

Abstract

The invention relates to a method for measuring the vertical dynamic disturbance of a high-speed railway bridge based on an unmanned aerial vehicle, which is characterized in that measuring points arearranged on the high-speed railway bridge to be measured. A camera is arranged on the unmanned aerial vehicle, more than three markers are arranged on the unmanned aerial vehicle, two cameras are arranged on the ground below the shooting position of the unmanned aerial vehicle to form a binocular stereoscopic vision system, and the two cameras in the binocular stereoscopic vision system shoot theunmanned aerial vehicle so as to monitor displacement changes of coordinates of all marker points on the unmanned aerial vehicle under a world coordinate system. The method comprises the following steps: correcting images shot by the cameras on the unmanned aerial vehicle according to the displacement and attitude change of the unmanned aerial vehicle obtained by the binocular stereoscopic visionsystem, and obtaining the vertical dynamic disturbance of the high-speed railway bridge based on the image coordinates of the corrected measuring points. The method is not influenced by environmentalvibration, can achieve flexible and easy-to-operate high-precision measurement of the dynamic disturbance of the high-speed railway bridge, and has simple and efficient measurement process.

Description

technical field [0001] The invention relates to the technical field of visual measurement of bridge dynamic displacement, in particular to a method for measuring the vertical disturbance of a high-speed rail bridge by using an unmanned aerial vehicle. Background technique [0002] The dynamic displacement measurement of the high-speed rail bridge based on visual measurement technology needs to set up a camera equipped with a telephoto lens near the bridge to be tested, and use the camera to image the part of the bridge to be tested, record the position of the part to be tested on the image at different times, and then according to the bridge to be tested The position change of the measured part on the image is used to calculate the actual position change of the bridge to be measured, so as to obtain the dynamic displacement of the bridge part. The part to be tested can be a natural surface on the bridge, or a specially made optical mark can be pasted or fixed. [0003] The ...

AI Technical Summary

Problems solved by technology

[0004] In addition, the camera has high requirements on the environment when imaging, because the measurement process is easily affected by the environment, so that the final measurement accuracy cannot meet the requirements

For example, when the camera is installed near the road, the road vibration caused by passing vehicles will directly affect the attitude stability of the camera, and it is difficult to meet the measurement accuracy requirements of the submillimeter level

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