A cross-obstacle reverse vision continuous measurement system and method

Abstract

The application discloses a kind of across obstacle formula reverse vision continuous measurement system and method, belong to bridge monitoring technical field, it is by setting reverse vision measuring device, and setting base point target on corresponding pier, and setting several measurement targets on main girder, using the corresponding setting of two cameras in reverse vision measuring device, so that two cameras can share a base point coordinate, and then the target position photographed by two cameras can be calculated in the same comprehensive image, ensure the continuous monitoring of vertical displacement of the position of measuring point on the longitudinal two sides of visual obstacle.The structure of the application is simple, easy to set up, can meet the linear monitoring of various different span bridges, realize the continuous monitoring of high frequency, large range of bridge linear across obstacle, has the advantages of high recognition accuracy, convenient construction, wide applicability, good economy, etc., effectively improve the efficiency and precision of bridge linear monitoring, fully guarantee the safety of bridge operation.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of bridge monitoring, and particularly relates to a continuous measurement system and method for obstacle-crossing reverse vision. BACKGROUND

[0002] With the advancement of infrastructure construction in China, the demand for bridge design and construction is increasing, and bridges play an increasingly important role in the field of transportation. However, as the frequency of bridge use increases, the structure is prone to various damages or deformations, which directly affects the carrying capacity and operational safety of the bridge. Therefore, in the practical application process of the bridge, the health condition of the bridge needs to be monitored to find problems in time and reinforce and maintain them.

[0003] As an important indicator of the stiffness of the main girder structure, the bridge alignment is a key monitoring indicator of the bridge and an object that needs to be considered in the process of routine monitoring and maintenance of the bridge. Currently, there are two types of traditional deformation measurement techniques, one is to use a static level gauge for measurement, and the other is to use a traditional photoelectric device based on visual measurement technology for measurement.

[0004] For the two traditional measurement methods, the former is based on the change of the liquid level of the measuring point to monitor the elevation, which can meet the measurement purpose to some extent, but is easily affected by low temperature environment, liquid leakage (overflow) and other special events, has poor stability, and cannot realize high-frequency acquisition. For the second measurement method, a deformation measurement device such as a photoelectric deflection gauge is usually used for measurement, and a high-resolution camera based on visual measurement technology is used to identify the dynamic deformation value of the target of the key points of the bridge to construct a precise visual measurement array of the dynamic deformation value of the bridge. The biggest advantage is to improve the frequency of bridge deformation measurement and realize high dynamic acquisition. However, for the second measurement method, there are still obvious defects. On the one hand, based on the principle of photoelectric imaging, this method cannot measure across the obstruction; on the other hand, due to the limited recognition accuracy of the camera, the measurement distance of the traditional measurement device is usually within 300 m, which leads to the fact that it can only be applied to the monitoring of bridges with a span of 300 m or less and no obstacles, and the monitoring range is extremely limited, which cannot effectively meet the continuous monitoring of existing long-span bridges, and has obvious application limitations. SUMMARY

[0005] In view of one or more of the above defects or improvement needs of the prior art, the present application provides an obstacle-crossing reverse vision continuous measurement system and method, which can realize obstacle-crossing, high-frequency and large-range continuous measurement of bridge alignment, meet the monitoring needs of long-span bridge alignment, ensure the reliability and safety of long-span bridge operation, and reduce the monitoring and maintenance cost of long-span bridges.

[0006] To achieve the above object, one aspect of the present application provides a cross-obstacle reverse visual continuous measurement system for continuous monitoring of a bridge main beam with visual obstacles,

[0007] The reverse visual measurement device and the targets are included.

[0008] The reverse visual measurement device includes a first camera and a second camera with opposite shooting directions, which are installed on the longitudinal sides of the visual obstacles and shoot the corresponding target positions on the longitudinal sides.

[0009] The targets include a base point target corresponding to the first camera and a plurality of measurement targets corresponding to the two cameras respectively.

[0010] As a further improvement of the present application, the reverse visual measurement device includes a telescopic member and two mounting assemblies arranged at the two ends of the telescopic member.

[0011] The telescopic member is horizontally arranged and can be reciprocally telescoped in the axial direction to adapt to the installation of the reverse visual measurement device on visual obstacles with different thicknesses.

[0012] As a further improvement of the present application, the mounting assembly includes a first mounting member connected to the telescopic member and a second mounting member connected to the first mounting member.

[0013] The second mounting member is used for mounting the corresponding camera, and is adjustably assembled with the first mounting member, so that the vertical position of the corresponding camera can be changed by adjusting the position between the two mounting members.

[0014] As a further improvement of the present application, the first mounting member is a slide rail fixedly connected to the telescopic member, and the second mounting member is a base provided with a roller, and the base is assembled and connected with the slide rail through the roller.

[0015] Correspondingly, the mounting assembly further includes a locking member arranged at the connection position of the two mounting members for locking the relative position of the two mounting members after adjustment.

[0016] As a further improvement of the present application, the visual obstacle is a pier top partition plate above the main span pier of the main beam.

[0017] As a further improvement of the present application, the reverse visual measurement device is two, and is arranged on the pier top partition at the longitudinal two ends of the main beam.

[0018] As a further improvement of the present application, a plurality of measurement targets are arranged on the main beam at the longitudinal two sides of the visual obstacle respectively, and a certain longitudinal interval is arranged between at least two measurement targets at the same side of the visual obstacle.

[0019] As a further improvement of the present application, the target is an infrared target.

[0020] Another aspect of the present application also provides a continuous measurement method of the reverse vision across the obstacle, which is used for continuous monitoring of the bridge main beam line of the bridge with the visual obstacle, and is realized by using the continuous measurement system of the reverse vision across the obstacle, and includes the following processes:

[0021] (1) The reverse visual measurement device is installed on the corresponding visual obstacle, so that the two cameras are arranged at the longitudinal two sides of the visual obstacle and the shooting directions are opposite;

[0022] (2) The positions of the first camera and the second camera are adjusted according to the detection requirements, and the resolutions f1 and f2 of the two cameras are recorded;

[0023] (3) Each target is installed, the shooting range of each target to the corresponding camera is ensured, and the spatial distance d of each target to the center of the corresponding camera is recorded i ;

[0024] (4) Each camera is controlled to capture the imaging of each target, the displacement x of each measurement point to the coordinate origin in the imaging image is identified i , the relative displacement value ΔX of each measurement point to the base point is calculated, and the deformation monitoring of the bridge is performed.

[0025] As a further improvement of the present application, the method for calculating the relative displacement value of each measurement point to the base point in process (4) includes the following processes:

[0026] (4.1) The imaging relationship of the base point is known from the optical imaging principle: The displacement value between the base point target and the first camera is calculated

[0027] (4.2) According to the target imaging relationship in the visual angle range of the first camera: The displacement value of each measurement target to the first camera is calculated , and the relative displacement value of each measurement point to the base point target is measured

[0028]

[0029] (4.3) According to the target imaging relationship in the second camera view angle range: Solving the displacement value of each measuring target relative to the second camera And measuring the relative displacement value of each measuring point and the base point target

[0030]

[0031] The above improved technical features can be combined with each other as long as they do not conflict with each other.

[0032] Overall, compared with the prior art, the above technical solutions conceived by the present application have the following beneficial effects:

[0033] (1) The cross-obstacle reverse vision continuous measurement system of the present application sets a reverse vision measurement device on the visual obstacle on the bridge, sets a base point target on the corresponding pier, and sets a plurality of measuring targets on the main girder on the longitudinal sides of the visual obstacle, respectively, uses the corresponding setting of the two cameras in the reverse vision measurement device, so that the two cameras can share a base point coordinate, and then the target positions photographed by the two cameras can be calculated in the same comprehensive image, ensuring the continuous monitoring of the vertical displacement of the measuring point positions on the longitudinal sides of the visual obstacle, ensuring the continuity of the bridge linear monitoring, improving the efficiency and accuracy of the bridge linear monitoring, and fully ensuring the safety and reliability of the bridge operation.

[0034] (2) The cross-obstacle reverse vision continuous measurement system of the present application optimally sets the structure of the reverse vision measurement device, and uses the combination of the telescopic member and the mounting assembly to realize the rapid and stable installation of the two cameras on the longitudinal sides of the visual obstacle, ensuring the accuracy of the setting and working of the two cameras, meeting the installation of the reverse vision measurement device on different visual obstacles, and improving the applicability and convenience of the reverse vision measurement device.

[0035] (3) The cross-obstacle reverse vision continuous measurement system of the present application has simple structure and is easy to set, can realize the cross-obstacle continuous monitoring of the vertical displacement of each position of the main girder on the large-span bridge, realize the cross-obstacle, high-frequency and large-range monitoring of the bridge linear, has the advantages of high recognition accuracy, convenient construction, wide applicability, good economy, etc., can meet the linear monitoring of various different span bridges, ensure the safety and reliability of the bridge operation, has good application prospect and practical value. BRIEF DESCRIPTION OF DRAWINGS

[0036] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments. Obviously, the drawings described below only show some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained from these drawings without any creative effort.

[0037] Figure 1 is a schematic diagram of the setting form of the cross-obstacle reverse visual continuous measurement system in the embodiments of the present application;

[0038] Figure 2 is an enlarged view of the local structure of the cross-obstacle reverse visual continuous measurement system in the embodiments of the present application;

[0039] Figure 3 is a schematic diagram of the imaging of the corresponding target by the first camera in the embodiments of the present application;

[0040] Figure 4 is a schematic diagram of the imaging of the corresponding target by the second camera in the embodiments of the present application;

[0041] Figure 5 is a schematic diagram of the comprehensive imaging based on the two cameras in the embodiments of the present application;

[0042] In all the drawings, the same reference signs represent the same technical features, specifically:

[0043] 1. Reverse visual measurement device; 101. First camera; 102. Second camera; 103. Telescopic member; 104. First mounting member; 105. Second mounting member; 106. Locking member;

[0044] 2. Bridge; 201. Main beam; 202. Partition. DETAILED DESCRIPTION

[0045] In order to make the purpose, technical solutions and advantages of the present application more clear, the following will further describe the present application in combination with the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application, and are not used to limit the present application. In addition, the technical features involved in each embodiment of the present application described below can be combined with each other as long as they do not conflict with each other.

[0046] In the description of the present application, it needs to be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like is based on the orientation or positional relationship shown in the drawings, and is only for the purpose of facilitating the description of the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation of the present application.

[0047] In addition, the terms "first", "second" are only for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined with "first", "second" can explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of "a plurality of" is at least two, such as two, three, etc., unless otherwise explicitly specified and limited.

[0048] In the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting", "fixing" and the like should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the internal communication of two elements or the interaction relationship between two elements, unless otherwise explicitly limited. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0049] In the present application, unless otherwise explicitly specified and limited, the first feature is "on" or "under" the second feature, which can be direct contact between the first and second features, or indirect contact between the first and second features through an intermediate medium. Moreover, the first feature "above", "above" and "above" the second feature can be directly above or obliquely above the first feature, or only indicate that the horizontal height of the first feature is higher than that of the second feature. The first feature "below", "below" and "below" the second feature can be directly below or obliquely below the first feature, or only indicate that the horizontal height of the first feature is less than that of the second feature.

[0050] Embodiment:

[0051] Please refer to Figure 1The cross-obstacle reverse visual continuous measurement system of the present invention includes a reverse visual measurement device 1 and targets respectively disposed on the bridge 2. The reverse visual measurement device 1 is disposed on a visual obstacle on the bridge 2 and is used to measure the vertical displacement of several targets disposed on the longitudinal sides of the visual obstacle and on the main beam 201, and finally obtain the vertical displacement at different positions in the longitudinal extension direction of the main beam 201, thereby realizing the deformation measurement of the bridge.

[0052] Specifically, in the preferred embodiment, the reverse vision measurement device 1 is as follows: Figure 2 As shown, it includes a first camera 101 and a second camera 102 located in the same plane but with opposite shooting directions. Both cameras are preferably high-definition cameras. Simultaneously, a telescopic member 103 is preferably provided corresponding to the fixing of the two cameras for adjusting their longitudinal position. In a preferred embodiment, the telescopic member 103 is as follows... Figure 2 The telescopic rod shown can be extended and retracted longitudinally. By adjusting the extension and retraction of the telescopic rod, the horizontal distance between the two cameras can be changed accordingly to adapt to the installation of the reverse vision measurement device 1 on visual obstacles of different thicknesses.

[0053] More specifically, for the installation of the two cameras, an installation assembly consisting of a first mounting member 104 and a second mounting member 105 is provided respectively. The first mounting member 104 is connected to the end of the telescopic member 103, the second mounting member 105 is connected to the first mounting member 104, and the first camera 101 / second camera 102 is mounted on the second mounting member 105. Thus, by connecting the two first mounting members 104 to the corresponding visual obstacles, the corresponding installation of the two cameras can be achieved.

[0054] Furthermore, the two cameras are further configured to be vertically adjustable. In this case, the first mounting member 104 and the second mounting member 105 are preferably slidably connected, and a locking member 106 is provided for the connection between the two to ensure that the second mounting member 105 is locked after sliding vertically into place.

[0055] More specifically, in the preferred embodiment, the first mounting member 104 is a vertically arranged slide rail, and the second mounting member 105 is a base with rollers. In actual installation, the end of the slide rail is preferably welded to a telescopic rod, and the base is matched with the slide rail by rollers, so that the vertical position of the base can be adjusted by the rolling of the rollers. Correspondingly, the locking member 106 is a locking fastener used to lock the connection between the base and the slide rail, thereby ensuring the stable installation of the two cameras.

[0056] Of course, it is understandable that the configuration of the telescopic component 103 and the two mounting parts can be adjusted according to the actual form of the visual obstacle, as long as the accuracy of the shooting direction and relative position of the two cameras can be guaranteed, which will not be elaborated here.

[0057] Further, as shown in Figure 1 , the targets corresponding to the two cameras include a base point target with relatively constant position and a plurality of measurement targets arranged on the main girder 201. Among them, the base point target is within the shooting range of the first camera 101 and its arrangement position does not displace (vertical displacement, lateral displacement) during the operation of the bridge 2. Therefore, in the preferred embodiment, the base point target is preferably arranged on the pier on the side of the main span pier of the main girder 201. Correspondingly, the reverse visual measurement device 1 is arranged corresponding to the position of the main span pier of the main girder 201, and is further arranged on the pier top partition plate 202 on the main span pier of the main girder 201. In this way, the relative position between the first camera 101 and the base point target 1 can be ensured to be always constant, so as to ensure the accuracy of the reference coordinates.

[0058] On this basis, a plurality of measurement targets are arranged on the main girder 201 between the base point target and the first camera 101, such as the targets 2-3 in the preferred embodiment shown in Figure 1 . The plurality of measurement targets are spaced apart from each other by a certain longitudinal interval, and are obviously within the shooting range of the first camera 101.

[0059] Further, on the main girder 201 on the other side of the pier top partition plate 202, a plurality of measurement targets are also arranged corresponding to the second camera 102, such as the targets 4-6 shown in Figure 1 . Each of the measurement targets is spaced apart from each other by a certain longitudinal interval, and is within the shooting range of the second camera 102.

[0060] More specifically, in the preferred embodiment, at least two measurement targets on the same side of the visual barrier are spaced apart by a certain longitudinal interval, and each target is preferably an infrared target.

[0061] For the preferred embodiment shown in Figure 1 , the base point targets 1, 2 and 3 share a common base point, and the imaging diagram thereof in the imaging diagram is shown in Figure 3 ; correspondingly, the targets 4-6 share a common base point, and the imaging diagram thereof in the imaging diagram is shown in Figure 4 .

[0062] In actual work, the two cameras are kept in 180° reverse view and share a common coordinate base point. The imaging diagrams of the two cameras Figure 3 and Figure 4 can be overlapped with reference to the coordinate origin, forming Figure 5The comprehensive imaging diagram shown in the figure makes the targets 4-6 in the field of view of the second camera 102 share the base point target 1, and a base point does not need to be arranged for the second camera 102, and then the horizontal and vertical displacements of the targets relative to the same base point are calculated according to the distances of the movement of the targets in the imaging diagram in the measuring process, so that the purpose of obstacle-crossing measurement can be achieved.

[0063] In actual setting, for a large-span bridge, a set of reverse visual measurement devices 1 can be arranged on the deck slab 202 of the pier at both ends of the main span, and by using two sets of reverse visual measurement devices 1, the measurement range can be expanded to the original 2 times, and the obstacle-crossing continuous measurement of the bridge line shape of the bridge 2 in the longitudinal direction can be realized.

[0064] Further, after the overlap of the comprehensive imaging diagram is completed, the corresponding deformation data can be calculated by identifying and solving the comprehensive imaging diagram, so that a solving device does not need to be arranged for each camera, and the obstacle-crossing continuity of data acquisition is also ensured.

[0065] As another aspect of the present application, a reverse visual continuous measurement method based on the reverse visual measurement device 1 is further provided, and the steps are preferably as follows:

[0066] (1) The length of the telescopic member 103 is adjusted according to the thickness of the visual obstacle (such as the deck slab 202 of the main beam 201), so that the two second mounting members 105 can be correspondingly mounted on the longitudinal sides of the visual obstacle;

[0067] (2) The two second mounting members 105 are stably mounted on the visual obstacle;

[0068] Specifically, the telescopic rod and the two slide rails are mounted on the deck slab 202, so that the telescopic rod is in a horizontal state, and the two slide rails are in a vertical state.

[0069] In actual installation, the telescopic rod and the slide rails are stably mounted on the deck slab 202 by using expansion screws or other methods, so that the telescopic rod is in a horizontal state. In specific installation, expansion screws can be used for concrete beams, and welding and other methods can be used for steel structures; and before fixing, necessary measures are taken to keep the telescopic rod in a horizontal state, so that the inclination of the camera shooting line of sight can be avoided.

[0070] (3) The positions of the first camera 101 and the second camera 102 are adjusted according to the detection requirements, and the resolutions f1 and f2 of the two cameras are recorded;

[0071] (4) The targets are installed, the targets are ensured to be in the shooting range of the corresponding camera, and the spatial distance d of each target from the center of the corresponding camera is recorded i ;

[0072] (5) Control each camera to capture each target imaging, identify the displacement x of each measuring point in the imaging figure from the coordinate origin i And calculate the relative displacement value ΔX of each measuring point and the base point, and use it to monitor the deformation of the bridge.

[0073] In actual setting, for the settlement of the relative displacement value, a calculation device is set, and a calculation program is configured in the calculation device, and the calculation process of the calculation program is further specifically as follows:

[0074] (5.1) From the optical imaging principle, the imaging relationship of the base point is known: Calculate the displacement value between the base point target 1 and the first camera 101

[0075] (5.2) According to the target imaging relationship in the visual angle range of the first camera 101: Calculate the displacement value of each target relative to the first camera 101 And measure the relative displacement value of each measuring point and the base point target 1

[0076] (5.3) According to the target imaging relationship in the visual angle range of the second camera 102: Calculate the displacement value of each target relative to the second camera 102 And measure the relative displacement value of each measuring point and the base point target 1

[0077] The continuous measurement system of the present application has the advantages of simple structure, easy setting, high recognition accuracy, convenient construction, wide applicability, good economy, etc., and can meet the linear monitoring of bridges of different spans, ensure the safety and reliability of bridge operation, and has good application prospect and practical value.

[0078] Those skilled in the art will readily understand that the above description is only a preferred embodiment of the present application, and is not intended to limit the present application, and any modification, equivalent replacement and improvement within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A system for continuous measurement across obstacles of reverse vision, for continuous monitoring across obstacles of a bridge girder with visual obstacles, characterized in that, The reverse visual measurement device comprises a first camera and a second camera with opposite shooting directions, which are used to be installed on the longitudinal sides of the visual barrier and to shoot the corresponding target positions on the longitudinal sides; the two cameras share the same coordinate base point, so that the shooting images of the two cameras can be integrated in the same image. The reverse visual measurement device comprises a telescopic member and two mounting assemblies arranged at the two ends of the telescopic member; the telescopic member is horizontally arranged and can be reciprocally telescoped along the axial direction to adapt to the installation of the reverse visual measurement device on visual barriers with different thicknesses; the two mounting assemblies are respectively connected to the ends of the telescopic member and are used for the installation of the two cameras; and the visual barrier is a pier top baffle above a main beam and a main span bridge pier. The target comprises a base point target corresponding to the first camera and a plurality of measurement targets corresponding to the two cameras; the base point target is arranged on the bridge pier on one longitudinal side of the visual barrier; and the measurement targets are arranged on the main beams on the two longitudinal sides of the visual barrier and are within the shooting range of the corresponding cameras. The mounting assembly comprises a first mounting member connected to the telescopic member and a second mounting member connected to the first mounting member.

2. The cross-obstacle reverse vision continuous measurement system according to claim 1, wherein, The second mounting member is used for the installation of the corresponding camera, and is adjustably assembled with the first mounting member, so that the vertical position of the corresponding camera can be changed through the position adjustment between the two mounting members. The first mounting member is a slide rail fixedly connected to the telescopic member; and the second mounting member is a base provided with a roller, and the base is assembled and connected to the slide rail through the roller.

3. The cross-obstacle reverse vision continuous measurement system according to claim 2, wherein, Correspondingly, the mounting assembly further comprises a locking member arranged at the connection position of the two mounting members and used for the locking of the two mounting members after the relative position adjustment. The reverse visual measurement device is two and is arranged on the pier top baffles at the longitudinal ends of the main beam.

4. The continuous across-obstacle reverse vision measurement system according to any one of claims 1-3, wherein, The main beams on the two longitudinal sides of the visual barrier are respectively provided with a plurality of measurement targets, and at least two measurement targets on the same side of the visual barrier are spaced apart by a certain longitudinal interval.

5. The continuous across-obstacle reverse vision measurement system according to any one of claims 1-3, wherein, The target is an infrared target.

6. The cross-obstacle reverse vision continuous measurement system according to claim 5, wherein, The method is implemented by using the barrier-crossing reverse visual continuous measurement system according to any one of claims 1 to 6 and comprises the following processes:

7. A method for continuously measuring across obstacles by reverse vision, for continuously monitoring across obstacles the linear shape of the main girder of a bridge with visual obstacles, characterized by, (1) installing the reverse visual measurement device on the corresponding visual barrier so that the two cameras are arranged on the two longitudinal sides of the visual barrier and have opposite shooting directions; The method for calculating the relative displacement values of the measurement points and the base point in process (4) comprises the following processes: (2) Adjust the positions of the first camera and the second camera according to the detection requirements, and record the resolutions of the two cameras f 1、 f 2; (3) Install each target, make sure each target is within the shooting range of the corresponding camera, and record the spatial distance of each target from the center of the corresponding camera d i ; (4) Control each camera to capture each target imaging, identify the displacement of each measuring point in the imaging figure from the origin of the coordinate x i , and calculate the relative displacement value of each measuring point and the base point , and use it to monitor the deformation of the bridge.

8. The method of claim 7, wherein, ​ (4.1) The base point imaging relationship is known from the principle of optical imaging: , and the displacement value between the base point target and the first camera is solved ; (4.2) According to the target imaging relationship in the first camera view angle range: , the displacement value of each measurement target relative to the first camera is solved , and the relative displacement value of each measurement point and the base point target is measured ; (4.3) According to the target imaging relationship in the second camera view range: , the displacement value of each measurement target relative to the second camera is solved , and the relative displacement value of each measurement point and the base point target is measured .

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