Bridge monitoring method and system based on binocular vision

Abstract

The invention relates to a bridge monitoring method and system based on binocular vision, and the method comprises: calibrating a first camera and a second camera, obtaining the relative pose relationbetween the two cameras, and determining the real-time three-dimensional coordinates of a central point on a calibration plate under a first camera coordinate system; calculating a coordinate conversion relationship between the first camera coordinate system and the calibration plate coordinate system according to the calibration information, and converting a three-dimensional coordinate of the central point under the first camera coordinate system into a real-time three-dimensional coordinate under the calibration plate coordinate system; and determining the displacement information of the bridge by combining the three-dimensional coordinates of the central point at the initial moment under the calibration plate coordinate system. By calibrating the relative pose relationship between thetwo cameras, the three-dimensional coordinate of the center point of the calibration plate under the first camera coordinate system is converted to be under the coordinate system of the calibration plate, and the displacement information of the bridge is determined by combining the coordinates of the center point of the initial moment under the coordinate system of the calibration plate; and manual measurement is replaced, and the method is high in precision, high in efficiency and low in price.

Description

technical field [0001] The invention relates to the technical field of bridge monitoring, in particular to a binocular vision-based bridge monitoring method and system. Background technique [0002] At present, most bridge monitoring systems use manual measurement to measure the displacement of the bridge at long intervals. This method is slow in measurement, cannot monitor bridge displacement in real time, and cannot measure multiple points at the same time. [0003] Concrete is the most widely used building material in building frames. The research and application practice of modern science on concrete shows that in bridges with concrete material structures, due to thermal expansion and contraction and external forces acting on the bridge, the deviation of the bridge is unavoidable. At present, the detection of this danger is mostly in the manual stage, usually using close-range detection equipment or manual detection, and the offset of the bridge is obtained by imprecise...

AI Technical Summary

Problems solved by technology

At present, the detection of this danger is mostly in the manual stage, usually using close-range detection equipment or manual detection, and the offset of the bridge is obtained by imprecise measurement or estimation. This method requires the detection personnel to rely on road detection or bridge Manual inspections are carried out regularly with equipment, which requires high work intensity, high inspection costs, and high requirements for personnel safety; and although the bridge part is found to be within the specified offset range during manual inspections, after a period of time, the offset The change has not been paid attention to. When the harsh environment and load increase suddenly change, this offset suddenly increases when it is under instantaneous pressure, and serious consequences are caused due to the inability to detect and quickly warn in real time

[0004] At present, most bridge monitoring systems use manual measurement to measure the displacement of the bridge every long time. This method is slow and inefficient. It cannot monitor the displacement of the bridge in real time and cannot measure multiple points at the same time, which consumes a lot of manpower and material resources.

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