Bridge deflection monitoring method and system, electronic device and storage medium

Abstract

The invention discloses a bridge deflection monitoring method and system, an electronic device and a storage medium, and the method comprises the steps: obtaining each frame of point cloud data outputted by a millimeter-wave radar, and recording the first frame of point cloud data after the installation of the millimeter-wave radar as matching record data; continuously updating the point cloud data of the current frame of the preset frame number, and performing matching according to the point cloud data of the preset frame number and the matching record data to generate new matching record data; sorting the point clouds in the new matching record data in a descending order according to a signal-to-noise ratio to obtain a monitoring point sequence; selecting a preset number of points with the highest signal-to-noise ratio in the monitoring point sequence as monitoring points; and monitoring the deflection of the bridge by using the selected monitoring points. According to the technical scheme provided by the invention, the tedious technical problem that monitoring point information needs to be manually configured in advance in a radar deployment stage when the deflection of a bridge is monitored in the prior art can be solved.

Description

Technical Field

[0001] The present invention relates to the field of radar monitoring technology, and in particular to a bridge deflection monitoring method, system, electronic device and storage medium. Background Art

[0002] Bridge deflection monitoring is a key indicator for assessing bridge safety. Traditional displacement deflection measurement equipment is mostly contact-based, which relies on manual operation to a certain extent and is costly, and has certain limitations in actual engineering applications. Unlike traditional contact measurement methods, millimeter-wave radar does not require the installation of sensors on the bridge deck, reducing installation difficulty and cost, while avoiding the potential impact of sensor installation on the bridge structure. Existing millimeter-wave radar technologies in bridge deflection monitoring have demonstrated significant advantages such as high precision, non-contact, all-weather, multi-target, and long-distance.

[0003] Install the millimeter-wave radar at a suitable location near the bridge to ensure that all monitoring points are covered. The monitoring points are generally deployed angular anti-targets or some stable feature points on the bridge surface. However, when monitoring the deflection of the bridge, the information of the monitoring points needs to be manually configured in advance during the radar deployment stage, which is a cumbersome process. Summary of the invention

[0004] The present invention provides a bridge deflection monitoring method, system, electronic device and storage medium, aiming to effectively solve the cumbersome technical problem in the prior art that when monitoring bridge deflection, monitoring point information needs to be manually configured in advance during the radar deployment stage.

[0005] According to the first aspect of the present invention, the present invention provides a bridge deflection monitoring method, including: obtaining each frame of point cloud data output by a millimeter wave radar, and recording the first frame of point cloud data after the millimeter wave radar is installed as matching record data; continuously updating a predetermined number of frames of current frame point cloud data, and matching the predetermined number of frames of point cloud data and matching record data to generate new matching record data; sorting the point cloud in the new matching record data in descending order according to the signal-to-noise ratio to obtain a monitoring point sequence; selecting a predetermined number of points with the highest signal-to-noise ratio in the monitoring point sequence as monitoring points; and using the selected monitoring points to monitor the bridge deflection.

[0006] Furthermore, the step of continuously updating the current frame point cloud data of a predetermined number of frames, and matching the point cloud data of the predetermined number of frames with the matching record data to generate new matching record data includes: traversing the points in the current frame point cloud data, and filtering the points in the current frame point cloud data whose signal-to-noise ratio is less than a first preset threshold value to update the current frame point cloud data; matching the filtered points in the current frame point cloud data with the points in the matching record data one by one, and obtaining new matching record data after the match is successful.

[0007] Furthermore, the step of matching the filtered points in the current frame point cloud data with the points in the matching record data one by one includes: judging whether the absolute value of the distance difference between the filtered points in the current frame point cloud data and the points in the matching record data is less than a preset distance difference value, and whether the absolute value of the azimuth difference between the two is less than the preset azimuth difference value; if the absolute value of the distance difference between the two is less than the preset distance difference value, and the absolute value of the azimuth difference between the two is less than the preset azimuth difference value, the matching is successful and a matching result is obtained; judging whether the traversal of the points in the current frame point cloud data is completed, if completed, taking the points in the current frame point cloud data of two consecutive frames as new matching record data.

[0008] Furthermore, the step of monitoring the deflection of the bridge using the selected monitoring points includes: obtaining the point cloud data of the current frame of the radar, and recording the phase information of the point cloud data of the current frame; recording the phase information of multiple consecutive frames of point cloud data, and performing phase unwrapping processing to obtain the phase after unwrapping; calculating the radial displacement between two adjacent frames of point cloud data through the phase after unwrapping, and calculating the deflection according to the change in the radial displacement; monitoring the deflection of the bridge within a preset time to obtain the change in the deflection of the bridge.

[0009] Furthermore, when the phase after unwrapping is obtained, the step of monitoring the bridge deflection using the selected monitoring points also includes: determining whether the absolute value of the phase difference between two adjacent frames after unwrapping is greater than a second preset threshold value; if so, the point cloud data of adjacent frames are arranged in chronological order, and the phase of the second frame undergoes an abnormal jump, the phase value of the second frame is discarded, and the phase value of the first frame of the point cloud data of the adjacent frames is used as the phase value of the second frame of the point cloud data.

[0010] Furthermore, the calculation formula for the radial displacement change is: ; Among them, x1 is the radial displacement change, is the wavelength of the radar signal electromagnetic wave, , , They are the phases of the point cloud data of two adjacent frames after unwrapping; The calculation formula of the deflection is: ; Where d1 is the deflection, is the radial displacement from the monitoring point to the radar, The height at which the radar reaches the bottom of the bridge.

[0011] Furthermore, the point cloud data includes distance, azimuth, signal-to-noise ratio and phase.

[0012] According to the second aspect of the present invention, the present invention also provides a bridge deflection monitoring system, including: a radar signal processing module, used to obtain each frame of point cloud data output by the millimeter wave radar, and record the first frame of point cloud data after the millimeter wave radar is installed as matching record data; a matching module, used to continuously update the current frame point cloud data of a predetermined number of frames, and match the point cloud data of a predetermined number of frames with the matching record data to generate new matching record data; a descending module, used to sort the point cloud in the new matching record data in descending order according to the signal-to-noise ratio to obtain a monitoring point sequence; a monitoring point selection module, used to select a predetermined number of points with the highest signal-to-noise ratio in the monitoring point sequence as monitoring points; a deflection monitoring module, used to monitor the bridge deflection using the selected monitoring points.

[0013] According to the third aspect of the present invention, the present invention also provides an electronic device, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the bridge deflection monitoring method described in any one of the above is implemented.

[0014] According to another aspect of the present invention, the present invention further provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the bridge deflection monitoring method described in any one of the above is implemented.

[0015] Through one or more of the above embodiments of the present invention, at least the following technical effects can be achieved: In the technical solution disclosed in the present invention, the cumbersome process of manually configuring monitoring points is avoided. It is only necessary to perform initialization data collection and multi-frame data matching processing of monitoring points for a certain period of time after the radar is deployed. According to the matching results, the monitoring points that best reflect the changes in bridge deflection are automatically selected, and the slight deformation of these points is monitored for a long time to monitor the changes in bridge deflection. This makes the monitoring of bridge deflection changes relatively simple. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The technical solutions and other beneficial effects of the present invention will be made apparent by describing in detail the specific embodiments of the present invention in conjunction with the accompanying drawings.

[0017] Figure 1 A flow chart of a bridge deflection monitoring method provided by an embodiment of the present invention; Figure 2 A flow chart of a matching method in a bridge deflection monitoring method provided by an embodiment of the present invention; Figure 3 A schematic diagram of the installation of a bridge radar for the bridge deflection monitoring method provided by an embodiment of the present invention; Figure 4 A deflection curve obtained by the bridge deflection monitoring method provided by an embodiment of the present invention; Figure 5 A framework diagram of a bridge deflection monitoring system provided by an embodiment of the present invention; Figure 6 The figure is a schematic block diagram of the structure of an electronic device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0018] The technical scheme in the embodiment of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiment of the present invention. Obviously, the described embodiment is only a part of the embodiment of the present invention, not all of the embodiments. Based on the embodiment of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0019] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the term "and / or" herein is merely a description of the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B may represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " herein, unless otherwise specified, generally indicates that the associated objects before and after are in an "or" relationship.

[0020] Bridge deflection monitoring is a key indicator for assessing bridge safety. Traditional displacement deflection measurement equipment is mostly contact-based, which relies on manual operation to a certain extent and is costly, and has certain limitations in actual engineering applications. Unlike traditional contact measurement methods, millimeter-wave radar does not require the installation of sensors on the bridge deck, reducing installation difficulty and cost, while avoiding the potential impact of sensor installation on the bridge structure. Existing millimeter-wave radar technologies in bridge deflection monitoring have demonstrated significant advantages such as high precision, non-contact, all-weather, multi-target, and long-distance.

[0021] Install the millimeter-wave radar at a suitable location near the bridge to ensure that all monitoring points are covered. Monitoring points are generally deployed angular reflection targets or some stable feature points on the bridge surface. At present, when deploying radar, it is necessary to manually configure the information of these monitoring points in advance, and then obtain the data of the monitoring points to complete the long-term monitoring of the bridge deflection.

[0022] Therefore, the embodiments of the present application provide a bridge deflection monitoring method, system, electronic device and storage medium, which can solve the cumbersome technical problem in the prior art that when monitoring bridge deflection, the monitoring point information needs to be manually configured in advance during the radar deployment phase.

[0023] Figure 1The bridge deflection monitoring method provided by an embodiment of the present invention includes: S101, obtaining each frame of point cloud data output by the millimeter wave radar, and recording the first frame of point cloud data after the millimeter wave radar is installed as matching record data; S102, continuously updating the current frame point cloud data of a predetermined number of frames, and matching the point cloud data of the predetermined number of frames with the matching record data to generate new matching record data; S103, sorting the point cloud in the new matching record data in descending order according to the signal-to-noise ratio to obtain a monitoring point sequence; S104, selecting a predetermined number of points with the highest signal-to-noise ratio in the monitoring point sequence as monitoring points; S105. Monitor the deflection of the bridge using the selected monitoring points.

[0024] In this embodiment, the bridge deflection monitoring method is applied when deploying a bridge radar. After the radar is installed, the point cloud data is output by the signal processing module of the millimeter wave radar, which includes information such as range, azimuth, signal-to-noise ratio snr and phase. The information of all point clouds in the initial first frame is recorded as the matching record data his_detect_info.

[0025] In step S104, the preset number is pre-set and can be any positive integer.

[0026] Therefore, the bridge deflection monitoring method provided in the embodiment of the present application avoids the cumbersome process of manually configuring monitoring points. It only needs to perform initialization data collection and multi-frame data matching processing of the monitoring points for a certain period of time after the radar is deployed. According to the matching results, the monitoring points that best reflect the changes in the bridge deflection are automatically selected, and the slight deformation of these points is monitored for a long time to monitor the changes in the bridge deflection. This makes it easier to monitor the changes in the bridge deflection.

[0027] In some embodiments, the step of continuously updating the current frame point cloud data of a predetermined number of frames, and matching the point cloud data of the predetermined number of frames with the matching record data to generate new matching record data includes: traversing the points in the current frame point cloud data, and filtering the points in the current frame point cloud data whose signal-to-noise ratio is less than a first preset threshold value to update the current frame point cloud data; matching the filtered points in the current frame point cloud data with the points in the matching record data one by one, and obtaining new matching record data after the match is successful.

[0028] In this embodiment, the point cloud data cur_detect_info of the current frame is updated, and the point cloud data of the current frame is traversed. First, the value of the signal-to-noise ratio less than the threshold SNR_THR is filtered, and then the points in the matching record his_detect_info are matched one by one. The distance and azimuth of each point need to meet the matching conditions at the same time for the match to be successful.

[0029] In some embodiments, the step of matching the filtered points in the current frame point cloud data with the points in the matching record data one by one includes: judging whether the absolute value of the distance difference between the filtered points in the current frame point cloud data and the points in the matching record data is less than a preset distance difference value, and whether the absolute value of the azimuth difference between the two is less than the preset azimuth difference value; if the absolute value of the distance difference between the two is less than the preset distance difference value, and the absolute value of the azimuth difference between the two is less than the preset azimuth difference value, the match is successful and a matching result is obtained; judging whether the traversal of the points in the current frame point cloud data is completed, if completed, the points in the current frame point cloud data matched in two consecutive frames are used as new matching record data.

[0030] In some embodiments, the matching process of the point cloud data is repeated, and after a certain number of frames of continuous matching are performed, a matching record his_detect_info is output.

[0031] To summarize, the process of generating new matching records can be seen in Figure 2 , it is necessary to first traverse the point point1 in the current frame cur_detect_info, then filter the points whose signal-to-noise ratio snr is less than the threshold SNR_THR, and then traverse the point point2 in the matching record his_detect_info to determine whether the two points point1 and point2 meet the preset conditions, the preset conditions being whether the absolute value of the distance difference between the two is less than the preset value of the distance difference, and whether the absolute value of the azimuth difference between the two is less than the preset value of the azimuth difference in the above embodiment; if not, traverse the next point in the matching record, and return to the step of traversing the point point2 in the matching record his_detect_info, if so, the match is successful, and the point point1 is recorded in the matching result result_detect_info, and it is determined whether the points in the current frame are traversed, if not, traverse the next point in the current frame, and return to the step of traversing the point point1 in the current frame cur_detect_info, if so, the matching results result_detect_info of two consecutive frames are used as new matching record data his_detect_info.

[0032] In some embodiments, the step of monitoring the deflection of the bridge using the selected monitoring points includes: obtaining the point cloud data of the current frame of the radar and recording the phase information of the point cloud data of the current frame; recording the phase information of multiple consecutive frames of point cloud data, and performing phase unwrapping processing to obtain the phase after unwrapping; calculating the radial displacement between two adjacent frames of point cloud data through the phase after unwrapping, and calculating the deflection based on the change in the radial displacement; monitoring the deflection of the bridge within a preset time to obtain the change in the deflection of the bridge.

[0033] When performing deflection monitoring, the installation diagram of the bridge radar is as follows: Figure 2 There are some stable points on the bottom of the bridge, but there are also many clutter points. This application takes two stable monitoring points as an example, namely Figure 3 Monitoring point 1 and monitoring point 2 in .

[0034] After selecting a stable monitoring point, taking monitoring point 1 as an example, in the process of long-term monitoring of the deflection of the point, the point cloud data of the current frame of the radar is obtained, and the steps of recording the phase information of the point cloud data of the current frame include: traversing the current point cloud data, first filtering the points with a signal-to-noise ratio lower than SNR_THR, and then matching the point cloud of the current frame with monitoring point 1 one by one. The matching method is consistent with the matching method when selecting the monitoring point mentioned above, that is, judging whether the absolute value of the distance difference between the filtered points in the current frame point cloud data and the points in the matching recorded data is less than the preset distance difference value, and whether the absolute value of the azimuth difference between the two is less than the preset azimuth difference value; if the absolute value of the distance difference between the two is less than the preset distance difference value, and the absolute value of the azimuth difference between the two is less than the preset azimuth difference value, the match is successful. If the match is successful, the phase information of the current frame is recorded.

[0035] In some embodiments, when the phase after unwrapping is obtained, the step of monitoring the bridge deflection using the selected monitoring points also includes: determining whether the absolute value of the phase difference between two adjacent frames after unwrapping is greater than a second preset threshold value; if so, the point cloud data of adjacent frames are in chronological order, and the phase of the second frame undergoes an abnormal jump, the phase value of the second frame is discarded, and the phase value of the first frame of the point cloud data of the adjacent frames is used as the phase value of the second frame of the point cloud data.

[0036] In this embodiment, the phase of the current frame after unwrapping is , the phase after unwrapping of the previous frame is , if the absolute value of the difference between the two is greater than the threshold value DIFF_THR, that is )>DIFF_THR; It is considered that the phase of the frame has an abnormal jump, so the current value is discarded and the phase of the previous frame is used as the phase of the current frame.

[0037] In some embodiments, the calculation formula for the radial displacement change is: ; Among them, x1 is the radial displacement change, is the wavelength of the radar signal electromagnetic wave, , , They are the phases of the point cloud data of two adjacent frames after unwrapping; The calculation formula of the deflection is: ; Where d1 is the deflection, is the radial displacement from the monitoring point to the radar, The height at which the radar reaches the bottom of the bridge.

[0038] In this embodiment, the microwave interferometry technique can be used to estimate the slight changes in the position of the monitoring point. Figure 4 This is the deflection curve of the monitoring point within a certain period of time. A large deflection change occurred at the preset time of 60s. The algorithm can then be used to detect deflection changes beyond the normal range and discover potential safety issues in a timely manner.

[0039] Therefore, the bridge deflection monitoring method provided in this embodiment, when deploying a bridge radar, is based on the point cloud information transmitted by the radar signal processing module, and through multi-frame matching processing of the collected point cloud data, some stable monitoring points on the bridge surface or the deployed corners are identified, and the long-term continuous phase data of these monitoring points are obtained. Phase unwrapping processing is performed, and slight changes in the position of the monitoring points can be inferred through microwave interferometry measurement technology, and the deflection information of the monitoring points can be calculated in combination with the radar installation information.

[0040] See also Figure 5 According to the second aspect of the present invention, the present invention also provides a bridge deflection monitoring system, including: a radar signal processing module 1, a matching module 2, a descending module 3, a monitoring point selection module 4 and a deflection monitoring module 5; the radar signal processing module 1 is used to obtain each frame of point cloud data output by the millimeter wave radar, and record the first frame of point cloud data after the millimeter wave radar is installed as matching record data; the matching module 2 is used to continuously update the current frame point cloud data of a predetermined number of frames, and match the point cloud data of a predetermined number of frames with the matching record data to generate new matching record data; the descending module 3 is used to sort the point cloud in the new matching record data in descending order according to the signal-to-noise ratio to obtain a monitoring point sequence; the monitoring point selection module 4 is used to select a predetermined number of points with the highest signal-to-noise ratio in the monitoring point sequence as monitoring points; the deflection monitoring module 5 is used to monitor the bridge deflection using the selected monitoring points.

[0041] The bridge deflection monitoring system provided in this embodiment avoids the cumbersome process of manually configuring monitoring points. It only needs to perform initialization data collection and multi-frame data matching processing of monitoring points for a certain period of time after the radar is deployed. According to the matching results, the monitoring points that best reflect the changes in bridge deflection are automatically selected, and the slight deformation of these points is monitored for a long time to monitor the changes in bridge deflection. This makes the monitoring of bridge deflection changes relatively simple.

[0042] In some embodiments, the matching module 2 includes: a traversal update unit and a one-to-one matching unit; the traversal update unit is used to traverse the points in the current frame point cloud data, and filter the points in the current frame point cloud data whose signal-to-noise ratio is less than a first preset threshold value to update the current frame point cloud data; the one-to-one matching unit is used to match the filtered points in the current frame point cloud data with the points in the matching record data one by one, and obtain new matching record data after the match is successful.

[0043] In some embodiments, the one-by-one matching unit includes: a first judgment subunit, a matching result generating subunit and a second judgment subunit; the first judgment subunit is used to judge whether the absolute value of the distance difference between the filtered points in the current frame point cloud data and the points in the matching record data is less than a preset distance difference value, and whether the absolute value of the azimuth difference between the two is less than the preset azimuth difference value; the matching result generating subunit is used to determine if the absolute value of the distance difference between the two is less than the preset distance difference value, and the absolute value of the azimuth difference between the two is less than the preset azimuth difference value, and the matching result is obtained successfully; the second judgment subunit is used to determine whether the traversal of the points in the current frame point cloud data is completed, and if it is completed, the points in the current frame point cloud data matched in two consecutive frames are used as new matching record data.

[0044] In some embodiments, the deflection monitoring module 5 includes: a phase recording unit, a phase unwrapping unit, a deflection calculation unit, and a deflection change monitoring unit; the phase recording unit is used to obtain the point cloud data of the current frame of the radar, and record the phase information of the point cloud data of the current frame; the phase unwrapping unit is used to record the phase information of multiple consecutive frames of point cloud data, and perform phase unwrapping processing to obtain the phase after unwrapping; the deflection calculation unit is used to calculate the radial displacement between two adjacent frames of point cloud data through the phase after unwrapping, and calculate the deflection according to the radial displacement change; the deflection change monitoring unit is used to monitor the deflection of the bridge within a preset time and obtain the deflection change of the bridge.

[0045] In some embodiments, the deflection monitoring module 5 also includes: an absolute value judgment unit and a phase value determination unit; the absolute value judgment unit is used to judge whether the absolute value of the phase difference between two adjacent frames after unwrapping is greater than a second preset threshold value; if so, the point cloud data of the adjacent frames are in chronological order, and the phase of the second frame undergoes an abnormal jump, and the phase value of the second frame is discarded, and the phase value of the first frame of the point cloud data of the adjacent frames is used as the phase value of the second frame of the point cloud data.

[0046] In some embodiments, the calculation formula for the radial displacement change is: ; Among them, x1 is the radial displacement change, is the wavelength of the radar signal electromagnetic wave, , , They are the phases of the point cloud data of two adjacent frames after unwrapping; The calculation formula of the deflection is: ; Where d1 is the deflection, is the radial displacement from the monitoring point to the radar, The height at which the radar reaches the bottom of the bridge.

[0047] In some embodiments, the point cloud data includes distance, azimuth, signal-to-noise ratio, and phase.

[0048] The present application embodiment provides an electronic device. Figure 6 The electronic device includes: a memory 601, a processor 602, and a computer program stored in the memory 601 and executable on the processor 602. When the processor 602 executes the computer program, the bridge deflection monitoring method described above is implemented.

[0049] Furthermore, the electronic device also includes: at least one input device 603 and at least one output device 604 .

[0050] The memory 601 , processor 602 , input device 603 and output device 604 are connected via a bus 605 .

[0051] The input device 603 may be a camera, a touch panel, a physical button or a mouse, etc. The output device 604 may be a display screen.

[0052] The memory 601 may be a high-speed random access memory (RAM) memory, or a non-volatile memory, such as a disk memory. The memory 601 is used to store a set of executable program codes, and the processor 602 is coupled to the memory 601 .

[0053] Furthermore, the embodiment of the present application also provides a computer-readable storage medium, which may be disposed in the electronic device in each of the above embodiments, and the computer-readable storage medium may be the memory 601 in the above embodiments. The computer-readable storage medium stores a computer program, which, when executed by the processor 602, implements the bridge deflection monitoring method described in the above method embodiment.

[0054] Furthermore, the computer storable medium may also be a U disk, a mobile hard disk, a read-only memory (ROM), a RAM, a magnetic disk or an optical disk, or other medium that can store program codes.

[0055] In the several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the modules is only a logical function division. There may be other division methods in actual implementation, such as multiple modules or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or modules, which can be electrical, mechanical or other forms.

[0056] The modules described as separate components may or may not be physically separated, and the components shown as modules may or may not be physical modules, that is, they may be located in one place or distributed on multiple network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0057] In addition, each functional module in each embodiment of the present invention may be integrated into one processing module, or each module may exist physically separately, or two or more modules may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of software functional modules.

[0058] If the integrated module is implemented in the form of a software function module and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention.

[0059] It should be noted that, for the convenience of description, the aforementioned method embodiments are all described as a series of action combinations, but those skilled in the art should be aware that the present invention is not limited by the described action sequence, because according to the present invention, certain steps can be performed in other sequences or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present invention.

[0060] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0061] In summary, although the present invention has been disclosed as above in terms of preferred embodiments, the above preferred embodiments are not intended to limit the present invention. A person skilled in the art may make various changes and modifications without departing from the spirit and scope of the present invention. Therefore, the scope of protection of the present invention shall be based on the scope defined in the claims.

Claims

1. A bridge deflection monitoring method, characterized in that: include: Obtain each frame of point cloud data output by the millimeter-wave radar, and record the first frame of point cloud data after the millimeter-wave radar is installed as matching record data; Continuously updating the current frame point cloud data of a predetermined number of frames, and matching the point cloud data of the predetermined number of frames with the matching record data to generate new matching record data; Sorting the point cloud in the new matching record data in descending order according to the signal-to-noise ratio to obtain a monitoring point sequence; Selecting a predetermined number of points with the highest signal-to-noise ratio in the monitoring point sequence as monitoring points; The selected monitoring points are used to monitor the deflection of the bridge.

2. The bridge deflection monitoring method according to claim 1, characterized in that: The step of continuously updating the current frame point cloud data of the predetermined number of frames, matching the point cloud data of the predetermined number of frames with the matching record data, and generating new matching record data comprises: Traversing points in the current frame point cloud data, and filtering points in the current frame point cloud data whose signal-to-noise ratio is less than a first preset threshold value, so as to update the current frame point cloud data; The filtered points in the current frame point cloud data are matched one by one with the points in the matching record data, and after the matching is successful, new matching record data is obtained.

3. The bridge deflection monitoring method according to claim 2, characterized in that: The step of matching the filtered points in the current frame point cloud data with the points in the matching record data one by one includes: Determine whether the absolute value of the distance difference between the filtered point in the current frame point cloud data and the point in the matching record data is less than a preset distance difference value, and whether the absolute value of the azimuth difference between the two is less than a preset azimuth difference value; If the absolute value of the distance difference between the two is less than the preset distance difference value, and the absolute value of the azimuth difference between the two is less than the preset azimuth difference value, then the match is successful and a matching result is obtained; It is determined whether the traversal of the points in the current frame point cloud data is completed. If it is completed, the points in the current frame point cloud data matched by two consecutive frames are used as new matching record data.

4. The bridge deflection monitoring method according to claim 1, characterized in that: The step of monitoring the bridge deflection using the selected monitoring points comprises: Obtain the point cloud data of the current frame of the radar, and record the phase information of the point cloud data of the current frame; Record the phase information of multiple consecutive frames of point cloud data, and perform phase unwrapping processing to obtain the phase after unwrapping; Calculating the radial displacement between two adjacent frames of point cloud data through the phase after unwrapping, and calculating the deflection according to the change of the radial displacement; Monitor the bridge deflection within a preset time and obtain the deflection change of the bridge.

5. The bridge deflection monitoring method according to claim 4, characterized in that: When the phase after unwinding is obtained, the step of monitoring the bridge deflection using the selected monitoring points further includes: Determine whether the absolute value of the phase difference between two adjacent frames after unwrapping is greater than a second preset threshold value; If so, the point cloud data of adjacent frames are in chronological order, and the phase of the second frame undergoes an abnormal jump. The phase value of the second frame is discarded, and the phase value of the first frame of the point cloud data of the adjacent frames is used as the phase value of the second frame of the point cloud data.

6. The bridge deflection monitoring method according to claim 4, characterized in that: The calculation formula for the radial displacement change is: ； Among them, x1 is the radial displacement change, is the wavelength of the radar signal electromagnetic wave, , , They are the phases of the point cloud data of two adjacent frames after unwrapping; The calculation formula of the deflection is: ； Where d1 is the deflection, r 1 is the radial displacement from the monitoring point to the radar, h The height at which the radar reaches the bottom of the bridge.

7. The bridge deflection monitoring method according to claim 1, characterized in that: The point cloud data includes distance, azimuth, signal-to-noise ratio and phase.

8. A bridge deflection monitoring system, characterized in that: include: A radar signal processing module is used to obtain each frame of point cloud data output by the millimeter wave radar, and record the first frame of point cloud data after the millimeter wave radar is installed as matching record data; A matching module, used for continuously updating the current frame point cloud data of a predetermined number of frames, and matching the point cloud data of the predetermined number of frames with the matching record data to generate new matching record data; A descending module is used to sort the point cloud in the new matching record data in descending order according to the signal-to-noise ratio to obtain a monitoring point sequence; A monitoring point selection module, used to select a predetermined number of points with the highest signal-to-noise ratio in the monitoring point sequence as monitoring points; The deflection monitoring module is used to monitor the deflection of the bridge using the selected monitoring points.

9. An electronic device comprising: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the method described in any one of claims 1 to 7 is implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method described in any one of claims 1 to 7 is implemented.

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