Intelligent measurement method, device and system for closure gap construction monitoring data

Abstract

The invention provides an intelligent measuring method, device and system for closure gap construction monitoring data. The measuring method comprises the steps that three-dimensional coordinates of camera devices on the upstream side and the downstream side at the t1 moment are obtained, three-dimensional coordinates of a target on the upstream side at the t2 moment are obtained, and three-dimensional coordinates of a target on the downstream side at the t3 moment are obtained; acquiring images acquired by the camera device at the t1 moment, the t2 moment and the t3 moment, and calculating coordinates of the target at the upstream side and the target at the downstream side at the t3 moment along the x direction and the z direction according to the three-dimensional coordinates of the target at the upstream side at the t1 moment, the three-dimensional coordinates of the target at the downstream side at the t3 moment and the images acquired by the camera device at the t1 moment, the t2 moment and the t3 moment; and acquiring the three-dimensional coordinates of the camera device at the current moment, calculating the coordinates of the targets on the upstream side and the downstream side along the x direction and the z direction at the current moment, and calculating the height difference and the axial deviation of the beam sections on the two sides of the closure gap at the current moment. According to the invention, the height difference and axis offset data of the beam sections at the two sides of the closure gap can be calculated in real time.

Description

Technical Field

[0001] The present invention relates to the technical field of bridge closure monitoring, and in particular to an intelligent measurement method, device and system for closure mouth construction monitoring data. Background Art

[0002] The construction of the joint is a key node in the construction of the cable-stayed bridge project. The relative height difference and axial deviation of the beam sections on both sides of the joint are related to whether the joint can be accurately welded, and are the key indicators of the joint construction monitoring. At present, the construction party of the joint uses total station measurement to monitor the joint. This operation method has three shortcomings: first, the accuracy of the total station is insufficient in the dynamic construction scene, and it is difficult to achieve long-term stable measurement; second, the total station can only achieve single-point tracking, and can only measure the coordinates of one point at a time, which is difficult to meet the construction needs of multi-section multi-point tracking; third, the total station measurement method has the problem of "measurement and calculation separation" in the monitoring stage. Although the total station single-point measurement has a high degree of automation, it cannot process data in real time, and it is difficult to directly obtain height difference and axial deviation data. Summary of the invention

[0003] The purpose of the present invention is to address the defects of the prior art and provide an intelligent measurement method, device and system for monitoring data of joint construction, to construct a real-time measurement system based on cameras and prisms, to achieve real-time acquisition of the relative pixel positions of the camera measuring station and the prism, and to calculate the height difference and axial deviation data of the beam sections on both sides of the joint in real time.

[0004] In order to solve the above technical problems, in a first aspect, the present invention provides an intelligent measurement method for closure mouth construction monitoring data, comprising:

[0005] Obtain the three-dimensional coordinates of the camera devices on the upstream and downstream sides at time t1, obtain the three-dimensional coordinates of the target on the upstream side at time t2, and obtain the three-dimensional coordinates of the target on the downstream side at time t3. In the three-dimensional coordinates, the x direction is the horizontal bridge direction, the y direction is the longitudinal bridge direction, and the z direction is the vertical direction;

[0006] Obtain images captured by the camera at time t1, time t2, and time t3, and calculate the coordinates of the upstream target and the downstream target at time t1 along the x-direction and the coordinates along the z-direction according to the three-dimensional coordinates of the target at the upstream side at time t2, the three-dimensional coordinates of the target at the downstream side at time t3, and the images captured by the camera at time t1, time t2, and time t3;

[0007] The three-dimensional coordinates of the camera device at the current moment are obtained, the coordinates of the upstream and downstream targets along the x-direction and the z-direction are calculated, and the height difference and axial deviation of the beam sections on both sides of the joint mouth are calculated at the current moment.

[0008] Furthermore, the calculation method of the coordinates of the upstream target and the downstream target along the x-direction and the coordinates along the z-direction at time t1 includes:

[0009] Acquire images captured by the camera device at time t1, time t2, and time t3, and calculate the moving distance of the upstream target relative to the upstream camera device during the time period from time t1 to time t2, and the moving distance of the downstream target relative to the downstream camera device during the time period from time t1 to time t3 based on the images captured by the camera device at time t1, time t2, and time t3;

[0010] The three-dimensional coordinates of the target on the upstream side at time t1 are calculated based on the three-dimensional coordinates of the target on the upstream side at time t2 and the moving distance of the target on the upstream side relative to the camera device on the upstream side during the time period from time t1 to time t2; the three-dimensional coordinates of the target on the downstream side at time t3 are calculated based on the three-dimensional coordinates of the target on the downstream side at time t3 and the moving distance of the target on the downstream side relative to the camera device on the downstream side during the time period from time t1 to time t3.

[0011] Furthermore, the method for calculating the moving distance of the upstream target relative to the camera device during the time period from time t1 to time t2 includes:

[0012] The image captured by the camera device on the upstream side at time t1 and the image captured by the camera device on the upstream side at time t2 are obtained, and the pixel coordinates (u ) corresponding to the center points of the two target units of the target on the upstream side at time t1 and time t2 are obtained according to the images captured by the camera device on the upstream side at time t1 and time t2. 1t1 ,v 1tt1 )、(u 2t1 ,v 2tt1 )and Among them, the pixel coordinates and The origin of the corresponding coordinate system is the center of the image;

[0013] Calculate the real-time pixel size of the image collected on the upstream side at time t1 Calculate the real-time pixel size of the image collected on the upstream side at time t2 Where d is the center distance between two target units of the target, is the number of pixels between the center points of the two target units at time t1, is the number of pixels between the center points of the two target units at time t2,

[0014] The pixel coordinates of the center point of the upstream target at time t1 and time t2 are: and in,

[0015] The moving distance of the upstream target relative to the upstream camera device along the x direction during the time period from time t1 to time t2 is The moving distance of the upstream target relative to the camera device along the z direction during the time period from time t1 to time t2 is

[0016] The method for calculating the moving distance of the target on the downstream side relative to the imaging device on the downstream side during the period from time t1 to time t3 is the same as the calculation method on the upstream side.

[0017] Furthermore, the coordinates of the upstream target along the x-direction and the z-direction at time t1 are calculated: and are the coordinates of the target along the x-direction and along the z-direction at time t2 respectively;

[0018] The calculation method of the coordinates of the target on the downstream side along the x-direction and the coordinates along the z-direction at time t1 is the same as that on the upstream side.

[0019] Furthermore, the coordinates of the upstream target and the downstream target along the x-direction and the z-direction at time t1 are calculated according to the following conditions:

[0020] If the images collected on the upstream side at time t1 and time t2 contain the bridge deck target at the same time, the coordinates of the bridge deck target on the upstream side at time t1 along the x direction and along the z direction are calculated; if the images collected on the upstream side at time t1 and time t2 do not contain the bridge deck target at the same time, the coordinates of the web member target on the upstream side at time t1 along the x direction and along the z direction are calculated; the bridge deck target is a target arranged on the bridge deck, and the web member target is a target arranged on the vertical web member;

[0021] If the images collected on the downstream side at time t1 and time t3 contain the bridge deck target at the same time, the coordinates of the bridge deck target on the downstream side at time t1 along the x-direction and along the z-direction are calculated; if the images collected on the downstream side at time t1 and time t3 do not contain the bridge deck target at the same time, the coordinates of the web target on the downstream side at time t1 along the x-direction and along the z-direction are calculated.

[0022] Furthermore, the method for determining whether the images collected from the upstream side at time t1 and time t2 simultaneously contain the bridge deck target is as follows:

[0023] Identify the target units in the images collected on the upstream side at time t1 and time t2 and calculate the center distance between each target unit. If there are two target units with a center distance d arranged along the x-direction in the images collected on the upstream side at time t1 and time t2, it is determined that the images collected on the upstream side at time t1 and time t2 both contain bridge deck targets.

[0024] Furthermore, the method for calculating the height difference and axial deviation of the beam sections on both sides of the joint mouth at the current moment includes:

[0025] Calculate the current time (the current time is t i ) The coordinates of the upstream target along the x-direction and along the z-direction:

[0026] Get i The three-dimensional coordinates of the camera device on the upstream side at the moment Calculate t i The coordinates of the target on the upstream side along the x-direction and the coordinates along the z-direction at time t1 and t2 are obtained by obtaining the image captured by the camera device on the upstream side at time t1 and the image captured by the camera device on the upstream side at time t2. i The image captured by the camera device on the upstream side at time t1, the image captured by the camera device on the upstream side at time t2, i The image captured by the camera device on the upstream side at time t1 is calculated from time t i The moving distance of the upstream target relative to the upstream camera device along the x-direction and the z-direction during the time period from t1 to t i The moving distance of the upstream target relative to the upstream camera device along the x-direction and the z-direction during the time period of time t1, the coordinates of the upstream target along the x-direction and the coordinates along the z-direction at time t2, and the calculation of t i The x-coordinate of the upstream target at time 标ti and the coordinate z along the z direction 标ti ;

[0027] Calculate the height difference h between the upstream camera and the upstream target 相 =z 相ti -z 相t1 -(z 标ti -z 标t1 ) Calculate the axis deviation k between the upstream camera device and the upstream target 相 =x 相ti -x 相t1 -(x 标ti -x 标t1 ), where z 相t1 is the coordinate of the camera device on the upstream side along the z direction at time t1, 相t1 is the coordinate of the camera device on the upstream side along the x-direction at time t1;

[0028] Calculate t i The height difference and axial deviation of the upstream side of the beam sections on both sides of the joint mouth;

[0029] t i The calculation method for the height difference and axial deviation on the downstream side of the beam sections on both sides of the joint is the same as that on the upstream side.

[0030] Furthermore, if the height difference and axial deviation between the camera device on the upstream side and the bridge deck target on the upstream side are calculated, the height difference and axial deviation of the upstream side of the beam sections on both sides of the closure are calculated according to the theoretical distances between the camera device on the upstream side and the bridge deck target along the x-direction and the z-direction after the closure.

[0031] If the height difference and axial deviation between the camera device on the upstream side and the web target on the upstream side are calculated, the height difference and axial deviation on the upstream side of the beam sections on both sides of the closure mouth are calculated based on the theoretical distances between the camera device on the upstream side and the web target along the x-direction and the z-direction after the closure.

[0032] In a second aspect, the present invention provides an intelligent measurement device for monitoring data of closure mouth construction, including a plurality of camera devices and a plurality of targets;

[0033] The camera device is arranged on the upstream and downstream sides of the beam section on one side of the joint mouth, and the target is arranged on the upstream and downstream sides of the beam section on the other side of the joint mouth. The target is used as a reference point for calculating the height difference and axial deviation of the beam sections on both sides of the joint mouth. Each target includes two target units, and the spacing between the two target units is a fixed value. The two target units are used to provide a basis for calculating the pixel size of the image collected by the camera device;

[0034] The camera device can collect images containing targets in real time during the joint closing process; the beam section where the camera device is arranged does not move during the joint closing process.

[0035] Preferably, the target unit comprises a prism or a luminous marker.

[0036] Furthermore, the target includes a bridge deck target and a web target, the bridge deck target is arranged on the bridge deck, the web target is arranged on the vertical web, the two target units of the bridge deck target are arranged along the x direction, the two target units of the web target are arranged along the z direction, and the camera device is located above the bridge deck target and below the web target.

[0037] In a third aspect, the present invention provides an intelligent measurement system for closure construction monitoring data, including a data storage module, an image analysis module, and a calculation module;

[0038] The data storage module is used to receive the three-dimensional coordinates of the camera device and the target, and the image captured by the camera device;

[0039] The image analysis module is used to identify the target in the image captured by the camera device and obtain its pixel coordinates;

[0040] The calculation module is used to calculate the three-dimensional coordinates of the target at the current moment according to the pixel coordinates of the target in the collected image and the current three-dimensional coordinates of the camera device, and to calculate the real-time height difference and axis deviation data of the joint mouth according to the three-dimensional coordinates of the camera device and the target at the current moment.

[0041] In a fourth aspect, the present invention provides a non-transitory computer-readable storage medium for storing a computer program or instruction. When the computer program or instruction is executed by a computer, the intelligent measurement method for closure mouth construction monitoring data is implemented.

[0042] In a fifth aspect, the present invention provides a computer program product, which includes computer instructions; when part or all of the computer instructions are run on a computer, the intelligent measurement method for closure construction monitoring data is executed.

[0043] The beneficial effects of the present invention are:

[0044] 1. In order to solve the problem that the total station measurement data cannot be tracked in multiple sections and multiple points, the present invention arranges cameras and targets on the beam sections on both sides of the joint, constructs a real-time measurement system based on cameras and prisms, and realizes real-time acquisition of the relative pixel positions of the camera station and the prism, providing basic data support for the subsequent calculation of the height difference and axis deviation of the joint.

[0045] 2. The present invention achieves real-time calibration of the pixel size of the collected image by fixing the distance between two target units in each target, thereby ensuring high-precision conversion of pixel distance to actual distance in dynamic bridge construction scenes.

[0046] 3. Since the total station can only measure the three-dimensional coordinates of one point (such as a camera or a target unit) at a time, it is impossible to obtain the height difference and axial deviation of the joint mouth at any time. The present invention uses the total station to measure the three-dimensional coordinates of the camera device at time t1 and the three-dimensional coordinates of the target at time t2. The three-dimensional coordinates are located in the bridge coordinate system. According to the image collected by the camera device at time t1 and the image collected by the camera device at time t2, the moving distance of the target relative to the camera device in the time period from time t1 to time t2 can be calculated, so as to obtain the three-dimensional coordinates of the target at time t1. When the three-dimensional coordinates of the camera device and the target at time t1 are known, by using the total station to measure the three-dimensional coordinates of the camera device at any time, the moving distance of the target relative to the camera device in the time period from time t1 to this moment can be calculated, so as to obtain the three-dimensional coordinates of the target at this moment, thereby calculating the height difference and axial deviation of the beam sections on both sides of the joint mouth. The method of the present invention is applicable to the case where the beam section on which the camera device is installed does not move during the joint closing process.

[0047] 4. The present invention processes the actual relative distance between the camera and the prism, thereby achieving real-time calculation of the height difference and axial deviation of the beam sections on both sides of the joint, and solving the problem of separation of total station measurement and calculation.

[0048] 5. The target unit of the present invention can adopt a prism. The prism has the characteristic of focusing light, which is beneficial to improving the accuracy of pixel size calculation, thereby improving the calculation accuracy of the height difference and axis deviation of the joint mouth, and is suitable for all-weather measurement (including at night, the camera device can still clearly capture the prism). In addition, luminous markers can also be used instead of prisms. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] Figure 1 The figure is a layout diagram of the camera device and the target of the present invention;

[0050] Figure 2 The figure is a layout diagram of the camera device and the target of the A side beam section of the present invention;

[0051] Figure 3 This is a layout diagram of the camera device and target of the B-side beam section of the present invention. DETAILED DESCRIPTION

[0052] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying 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.

[0053] Example 1

[0054] like Figure 1 As shown, the two sides of the joint mouth are side A and side B, and side A and side B correspond to side A beam section and side B beam section respectively. This embodiment provides an intelligent measurement system for joint mouth construction monitoring data, including multiple cameras, multiple targets and a calculation and processing module. The cameras are arranged on the side A beam section, and the targets are arranged on the side B beam section. The side A beam section does not move during the joint closing process.

[0055] The targets include bridge deck targets and web targets, such as Figure 2 As shown, the bridge deck target is set on the bridge deck of the B-side beam section, and two bridge deck targets are set, and the two bridge deck targets are arranged close to the upstream side and downstream side of the bridge respectively. The web member target is set on the vertical web member of the B-side beam section, and two web member targets are set, and the two web member targets are arranged close to the upstream side and downstream side of the bridge respectively. In this embodiment, the vertical distance between the second web member target and the bridge deck is 100 cm.

[0056] like Figure 3 As shown, the camera device is arranged on the vertical web member of the A-side beam section. Two camera devices are arranged, and the two camera devices are arranged close to the upstream side and the downstream side of the bridge respectively. In this embodiment, the camera device adopts a camera, and the vertical distance between the camera and the bridge deck is 30 cm, that is, the camera device is located above the bridge deck target and below the web member target, so that during the joint closing process, the camera device can at least take a picture of the bridge deck target or the web member target.

[0057] The computing and processing module is connected to the camera and can obtain the image captured by the camera in real time. The computing and processing module calculates the three-dimensional coordinates of the target at the current moment according to the pixel coordinates of the target in the captured image and the current three-dimensional coordinates of the camera device, thereby obtaining the real-time height difference and axis deviation data of the closure.

[0058] In this embodiment, each target includes two target units, the target units are prisms, the two prisms are fixed to the bridge using standard tooling, and the center distance between the two prisms is a fixed value d. The two prisms corresponding to the bridge deck target are arranged horizontally along the bridge, and the two prisms corresponding to the web target are arranged vertically.

[0059] Example 2

[0060] Based on Example 1, this embodiment provides an intelligent measurement method for closure mouth construction monitoring data, including:

[0061] S1. Use a total station to measure the camera device on the upstream or downstream side at time t1 to obtain the three-dimensional coordinates of the camera device on the upstream and downstream sides at time t1; use the total station to measure the target on the upstream side at time t2 to obtain the three-dimensional coordinates of the target on the upstream side at time t2; use the total station to measure the target on the downstream side at time t3 to obtain the three-dimensional coordinates of the target on the downstream side at time t3; during the closure process, the camera device can collect images containing bridge deck targets and / or web targets in real time, and the beam section where the camera device is arranged will not move during the closure process; in the three-dimensional coordinates, the x direction is the transverse bridge direction, the y direction is the longitudinal bridge direction, and the z direction is the vertical direction.

[0062] It can be understood that since the beam section where the camera device is arranged does not move during the jointing process, the three-dimensional coordinates of the camera device on the upstream or downstream side are measured at time t1. According to the positional relationship of the camera devices on the upstream and downstream sides, the three-dimensional coordinates of the camera devices on the upstream and downstream sides can be obtained, so it is sufficient to measure one of the camera devices; and for the upstream target and the downstream target, when the three-dimensional coordinates of the upstream target are measured at time t2, since the upstream target and the downstream target are not arranged symmetrically with respect to the y-direction, and the beam section on the B side may also be deflected, the three-dimensional coordinates of the downstream target at time t2 cannot be calculated based on the three-dimensional coordinates of the upstream target at time t2.

[0063] S2, obtaining images captured by the camera at time t1, time t2, and time t3, and calculating the coordinates of the upstream target and the downstream target at time t1 along the x-direction and the coordinates along the z-direction according to the three-dimensional coordinates of the target at the upstream side at time t2, the three-dimensional coordinates of the target at the downstream side at time t3, and the images captured by the camera at time t1, time t2, and time t3;

[0064] It should be noted that since the shooting direction of the imaging device (i.e., the camera) cannot remain perpendicular to the target in real time, in the image taken by the camera, the distance between the target and the center of the image is not equal to the distance between the camera and the target in the xz plane. Therefore, the three-dimensional coordinates of the target cannot be calculated directly based on the three-dimensional coordinates of the camera and the image. Instead, it is necessary to adopt the method in step S2, and use the distance between the target and the center of the image at time t1 and time t2 to calculate the moving distance of the target relative to the camera in the time period of the two times, so that the three-dimensional coordinates of the target at time t1 can be calculated based on the three-dimensional coordinates of the camera at time t1.

[0065] Step S2 specifically includes:

[0066] S21, acquiring images captured by the camera device at time t1, time t2, and time t3, and calculating the moving distance of the target on the upstream side relative to the camera device on the upstream side during the time period from time t1 to time t2, and the moving distance of the target on the downstream side relative to the camera device on the downstream side during the time period from time t1 to time t3 according to the images captured by the camera device at time t1, time t2, and time t3;

[0067] Step S21 specifically includes:

[0068] Calculate the moving distance of the upstream target relative to the camera device during the time period from time t1 to time t2: obtain the image captured by the camera device on the upstream side at time t1 and the image captured by the camera device on the upstream side at time t2, and obtain the pixel coordinates corresponding to the center points of the two target units of the upstream target at time t1 and time t2 based on the images captured by the camera device on the upstream side at time t1 and time t2 and Among them, the pixel coordinates and The origin of the corresponding coordinate system is the center of the image;

[0069] Calculate the real-time pixel size of the image collected on the upstream side at time t1 Calculate the real-time pixel size of the image collected on the upstream side at time t2 Where d is the center distance between two target units of the target, is the number of pixels between the center points of the two target units at time t1, is the number of pixels between the center points of the two target units at time t2,

[0070] The pixel coordinates of the center point of the upstream target at time t1 and time t2 are: and in,

[0071] The moving distance of the upstream target relative to the upstream camera device along the x direction during the time period from time t1 to time t2 is The moving distance of the upstream target relative to the camera device along the z direction during the period from time t1 to time t2 is s. t2 v t2 -s t1 v t1 ;

[0072] It should be noted that the target design of this embodiment is two prisms jointly monitored, that is, a dual-prism monitoring point. Since the center distance between the two prisms (i.e., the target unit) is a fixed value d, for each image, the pixel size can be calculated based on the relationship between the number of pixels between the center points of the two prisms and the actual distance d, thereby realizing real-time calibration of the pixel size.

[0073] The method for calculating the moving distance of the target on the downstream side relative to the imaging device on the downstream side during the period from time t1 to time t3 is the same as the calculation method on the upstream side.

[0074] S22, calculating the three-dimensional coordinates of the target on the upstream side at time t1 based on the three-dimensional coordinates of the target on the upstream side at time t2, and calculating the three-dimensional coordinates of the target on the downstream side at time t1 based on the three-dimensional coordinates of the target on the downstream side at time t3.

[0075] Step S22 specifically includes:

[0076] Calculate the coordinates of the upstream target along the x-direction and along the z-direction at time t1: 标t1 =x 标t2 -s t2 u t2 +s t1 u t1 , z 标t1 =z 标t2 -s t2 v t2 +s t1 v t1 , x 标t2 and z 标t2 are the coordinates of the target along the x-direction and along the z-direction at time t2 respectively;

[0077] The calculation method of the coordinates of the target on the downstream side along the x-direction and the coordinates along the z-direction at time t1 is the same as that on the upstream side.

[0078] At this time, the three-dimensional coordinates of the target on the upstream side and the target on the downstream side at time t1 are obtained.

[0079] It should be noted that during the closure process, the height difference of the beam sections on both sides of the closure generally does not exceed 100 cm. If only targets are set on the bridge deck, the camera device may not be able to capture the bridge deck targets. Therefore, this embodiment sets bridge deck targets and web bar targets, so that the camera device can capture the bridge deck targets and web bar targets at the same time, or only capture the web bar targets, thereby ensuring real-time calculation of the height difference and axial deviation of the beam sections on both sides of the closure.

[0080] In step S2, if the images collected on the upstream side at time t1 and time t2 contain the bridge deck target at the same time, the coordinates of the bridge deck target on the upstream side at time t1 along the x-direction and along the z-direction are calculated; if the images collected on the upstream side at time t1 and time t2 do not contain the bridge deck target at the same time, the coordinates of the web bar target on the upstream side at time t1 along the x-direction and along the z-direction are calculated;

[0081] The method for judging whether the images collected on the upstream side at time t1 and time t2 simultaneously include the bridge deck target is as follows: identifying the target units in the images collected on the upstream side at time t1 and time t2 and calculating the center distance between each target unit; if there are two target units with a center distance d arranged along the x direction in the images collected on the upstream side at time t1 and time t2, it is determined that the images collected on the upstream side at time t1 and time t2 simultaneously include the bridge deck target.

[0082] If the images collected on the downstream side at time t1 and time t3 contain the bridge deck target at the same time, the coordinates of the bridge deck target on the downstream side at time t1 along the x-direction and along the z-direction are calculated; if the images collected on the downstream side at time t1 and time t3 do not contain the bridge deck target at the same time, the coordinates of the web target on the downstream side at time t1 along the x-direction and along the z-direction are calculated.

[0083] S3. Obtain the three-dimensional coordinates of the camera device at the current moment, calculate the coordinates of the upstream and downstream targets along the x-direction and the z-direction, and calculate the height difference and axial deviation of the beam sections on both sides of the joint at the current moment.

[0084] Step S3 specifically includes:

[0085] S31, calculate the current time (the current time is t i ) The coordinates of the upstream target along the x-direction and along the z-direction:

[0086] Get i The three-dimensional coordinates of the camera device on the upstream side at the moment Calculate t i The coordinates of the target on the upstream side along the x-direction and the coordinates along the z-direction at time t1 and t2 are obtained by obtaining the image captured by the camera device on the upstream side at time t1 and the image captured by the camera device on the upstream side at time t2. i The image captured by the camera device on the upstream side at time t1, the image captured by the camera device on the upstream side at time t2,i The image captured by the camera device on the upstream side at time t1 is calculated from time t i The moving distance of the upstream target relative to the upstream camera device along the x-direction and the z-direction during the time period from t1 to t i The moving distance of the upstream target relative to the upstream camera device along the x-direction and the z-direction during the time period of time t1, the coordinates of the upstream target along the x-direction and the coordinates along the z-direction at time t2, and the calculation of t i The x-coordinate of the upstream target at time and the coordinates along the z direction

[0087] S32, calculate the height difference h between the upstream camera device and the upstream target 相 =z 相ti -z 相t1 -(z 标ti -z 标t1 ) Calculate the axis deviation k between the upstream camera device and the upstream target 相 =x 相ti -x 相t1 -(x 标ti -x 标t1 ), where z 相t1 is the coordinate of the camera device on the upstream side along the z direction at time t1, 相t1 is the coordinate of the camera device on the upstream side along the x-direction at time t1;

[0088] S33, calculate t i The height difference and axial deviation of the upstream side of the beam sections on both sides of the joint mouth;

[0089] Step S33 specifically includes:

[0090] If the height difference and axial deviation between the camera device on the upstream side and the bridge deck target on the upstream side calculated in step S32 are correct, then the height difference and axial deviation of the upstream side of the beam segments on both sides of the closure are calculated according to the theoretical distances between the camera device on the upstream side and the bridge deck target along the x-direction and the z-direction after closure;

[0091] If the height difference and axial deviation between the camera device on the upstream side and the web target on the upstream side are calculated in step S32, then the height difference and axial deviation on the upstream side of the beam sections on both sides of the joint mouth are calculated based on the theoretical distances between the camera device on the upstream side and the web target on the upstream side along the x-direction and the z-direction after the joint is completed.

[0092] It should be noted that what is calculated in step S32 is the height difference and axial deviation between the camera and the target, which also needs to be converted into the actual height difference and axial deviation of the beam sections on both sides of the joint. The calculation can be performed based on the height difference and axial deviation between the camera and the target after a theoretically perfect joint, to obtain the actual height difference and axial deviation of the beam sections on both sides of the joint at the current moment, and the relative deflection of the beam sections on both sides can also be calculated based on the height difference and axial deviation.

[0093] Steps S31 to S33 calculate t i The height difference and axis deviation on the upstream side at time t i The calculation method of the height difference and axial deviation on the downstream side is the same as that on the upstream side.

[0094] Example 3

[0095] This embodiment provides an intelligent measurement system for closure construction monitoring data, including a data storage module, an image analysis module, and a calculation module;

[0096] The data storage module is used to receive the three-dimensional coordinates of the camera device and the target, as well as the images captured by the camera device; that is, the data collected by the total station is transmitted to the data storage module, and the images collected by the camera device are also transmitted to the data storage module.

[0097] The image analysis module is used to identify the target in the image captured by the camera device and obtain its pixel coordinates;

[0098] The calculation module is used to calculate the three-dimensional coordinates of the target at the current moment according to the pixel coordinates of the target in the collected image and the current three-dimensional coordinates of the camera device, and to calculate the real-time height difference and axis deviation data of the joint mouth according to the three-dimensional coordinates of the camera device and the target at the current moment.

[0099] Example 4

[0100] This embodiment provides a non-transitory computer-readable storage medium for storing a computer program or instruction. When the computer program or instruction is executed by a computer, the intelligent measurement method for closure construction monitoring data of Embodiment 2 is implemented.

[0101] Example 5

[0102] This embodiment provides a computer program product, which includes computer instructions. When part or all of the computer instructions are run on a computer, the intelligent measurement method for closure construction monitoring data of Embodiment 2 is executed.

[0103] The embodiments described above are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. An intelligent measurement method for closure construction monitoring data, characterized in that: include: Obtain the three-dimensional coordinates of the camera devices on the upstream and downstream sides at time t1, obtain the three-dimensional coordinates of the target on the upstream side at time t2, and obtain the three-dimensional coordinates of the target on the downstream side at time t3. In the three-dimensional coordinates, the x direction is the horizontal bridge direction, the y direction is the longitudinal bridge direction, and the z direction is the vertical direction; Obtain images captured by the camera at time t1, time t2, and time t3, and calculate the coordinates of the upstream target and the downstream target at time t1 along the x-direction and the coordinates along the z-direction according to the three-dimensional coordinates of the target at the upstream side at time t2, the three-dimensional coordinates of the target at the downstream side at time t3, and the images captured by the camera at time t1, time t2, and time t3; The three-dimensional coordinates of the camera device at the current moment are obtained, the coordinates of the upstream and downstream targets along the x-direction and the z-direction are calculated, and the height difference and axial deviation of the beam sections on both sides of the joint mouth are calculated at the current moment.

2. The intelligent measurement method for closure construction monitoring data according to claim 1 is characterized by: The calculation method of the coordinates of the upstream target and the downstream target along the x-direction and the coordinates along the z-direction at time t1 includes: Acquire images captured by the camera device at time t1, time t2, and time t3, and calculate the moving distance of the upstream target relative to the upstream camera device during the time period from time t1 to time t2, and the moving distance of the downstream target relative to the downstream camera device during the time period from time t1 to time t3 based on the images captured by the camera device at time t1, time t2, and time t3; The three-dimensional coordinates of the target on the upstream side at time t1 are calculated based on the three-dimensional coordinates of the target on the upstream side at time t2 and the moving distance of the target on the upstream side relative to the camera device on the upstream side during the time period from time t1 to time t2; the three-dimensional coordinates of the target on the downstream side at time t3 are calculated based on the three-dimensional coordinates of the target on the downstream side at time t3 and the moving distance of the target on the downstream side relative to the camera device on the downstream side during the time period from time t1 to time t3.

3. The intelligent measurement method for closure construction monitoring data according to claim 2 is characterized by: The method for calculating the moving distance of the upstream target relative to the camera device during the time period from time t1 to time t2 includes: Obtain an image captured by the camera device on the upstream side at time t1 and an image captured by the camera device on the upstream side at time t2, and obtain the pixel coordinates corresponding to the center points of the two target units of the upstream target at time t1 and time t2 based on the images captured by the camera device on the upstream side at time t1 and time t2 and Among them, the pixel coordinates and The origin of the corresponding coordinate system is the center of the image; Calculate the real-time pixel size of the image collected on the upstream side at time t1 Calculate the real-time pixel size of the image collected on the upstream side at time t2 Where d is the center distance between two target units of the target, is the number of pixels between the center points of the two target units at time t1, is the number of pixels between the center points of the two target units at time t2, The pixel coordinates of the center point of the upstream target at time t1 and time t2 are: and in, The moving distance of the upstream target relative to the upstream camera device along the x direction during the time period from time t1 to time t2 is The moving distance of the upstream target relative to the camera device along the z direction during the time period from time t1 to time t2 is The method for calculating the moving distance of the target on the downstream side relative to the imaging device on the downstream side during the period from time t1 to time t3 is the same as the calculation method on the upstream side.

4. The intelligent measurement method for closure construction monitoring data according to claim 3 is characterized by: Calculate the x- and z-coordinates of the upstream target at time t1: z 标t1 =z 标t2 -s t2 v t2 +s t1 v t1 , x 标t2 and z 标t2 are the coordinates of the target along the x-direction and along the z-direction at time t2 respectively; The calculation method of the coordinates of the target on the downstream side along the x direction and the coordinates along the z direction at time t1 is the same as that on the upstream side.

5. The intelligent measurement method for closure construction monitoring data according to any one of claims 1 to 4, characterized in that: The coordinates of the upstream and downstream targets along the x-direction and the z-direction at time t1 are calculated according to the following conditions: If the images collected on the upstream side at time t1 and time t2 contain the bridge deck target at the same time, the coordinates of the bridge deck target on the upstream side at time t1 along the x direction and along the z direction are calculated; if the images collected on the upstream side at time t1 and time t2 do not contain the bridge deck target at the same time, the coordinates of the web member target on the upstream side at time t1 along the x direction and along the z direction are calculated; the bridge deck target is a target arranged on the bridge deck, and the web member target is a target arranged on the vertical web member; If the images collected on the downstream side at time t1 and time t3 contain the bridge deck target at the same time, the coordinates of the bridge deck target on the downstream side at time t1 along the x-direction and along the z-direction are calculated; if the images collected on the downstream side at time t1 and time t3 do not contain the bridge deck target at the same time, the coordinates of the web target on the downstream side at time t1 along the x-direction and along the z-direction are calculated.

6. The intelligent measurement method for closure construction monitoring data according to claim 5 is characterized by: The method for determining whether the images collected on the upstream side at time t1 and time t2 contain the bridge deck target at the same time is as follows: Identify the target units in the images collected on the upstream side at time t1 and time t2 and calculate the center distance between each target unit. If there are two target units with a center distance d arranged along the x-direction in the images collected on the upstream side at time t1 and time t2, it is determined that the images collected on the upstream side at time t1 and time t2 both contain bridge deck targets.

7. The intelligent measurement method for closure construction monitoring data according to claim 5 is characterized by: The methods for calculating the height difference and axial deviation of the beam segments on both sides of the joint mouth at the current moment include: Calculate the current time (the current time is t i ) The coordinates of the upstream target along the x-direction and along the z-direction: Get i The three-dimensional coordinates of the camera device on the upstream side at the moment Calculate t i The coordinates of the target on the upstream side along the x-direction and the coordinates along the z-direction at time t1 and t2 are obtained by obtaining the image captured by the camera device on the upstream side at time t1 and the image captured by the camera device on the upstream side at time t2. i The image captured by the camera device on the upstream side at time t1, the image captured by the camera device on the upstream side at time t2, i The image captured by the camera device on the upstream side at time t1 is calculated from time t i The moving distance of the upstream target relative to the upstream camera device along the x-direction and the z-direction during the time period from t1 to t i The moving distance of the upstream target relative to the upstream camera device along the x-direction and the z-direction during the time period of time t1, the coordinates of the upstream target along the x-direction and the coordinates along the z-direction at time t2, and the calculation of t i The x-coordinate of the upstream target at time and the coordinates along the z direction Calculate the height difference between the upstream camera and the upstream target Calculate the axis offset between the upstream camera and the upstream target in, is the coordinate of the camera device on the upstream side along the z direction at time t1, is the coordinate of the camera device on the upstream side along the x-direction at time t1; Calculate t i The height difference and axial deviation of the upstream side of the beam sections on both sides of the joint mouth; t i The calculation method for the height difference and axial deviation on the downstream side of the beam sections on both sides of the joint is the same as that on the upstream side.

8. The intelligent measurement method for closure construction monitoring data according to claim 7 is characterized by: If the height difference and axial deviation between the camera device on the upstream side and the bridge deck target on the upstream side are calculated, then the height difference and axial deviation of the upstream side of the beam sections on both sides of the closure mouth are calculated according to the theoretical distances between the camera device on the upstream side and the bridge deck target along the x-direction and the z-direction after the closure; If the height difference and axial deviation between the camera device on the upstream side and the web target on the upstream side are calculated, the height difference and axial deviation on the upstream side of the beam sections on both sides of the closure mouth are calculated based on the theoretical distances between the camera device on the upstream side and the web target along the x-direction and the z-direction after the closure.

9. An intelligent measuring device for monitoring data of closure construction, characterized in that: It includes a plurality of camera devices and a plurality of targets; The camera device is arranged on the upstream and downstream sides of the beam section on one side of the joint mouth, and the target is arranged on the upstream and downstream sides of the beam section on the other side of the joint mouth. The target is used as a reference point for calculating the height difference and axial deviation of the beam sections on both sides of the joint mouth. Each target includes two target units, and the spacing between the two target units is a fixed value. The two target units are used to provide a basis for calculating the pixel size of the image collected by the camera device; The camera device can collect images containing targets in real time during the joint closing process; the beam section where the camera device is arranged does not move during the joint closing process.

10. The intelligent measuring device for monitoring data of closure construction according to claim 9 is characterized in that: The target unit includes a prism or a luminous marker.

11. The intelligent measuring device for monitoring data of closure construction according to claim 9 is characterized in that: The target includes a bridge deck target and a web target. The bridge deck target is arranged on the bridge deck, and the web target is arranged on the vertical web. The two target units of the bridge deck target are arranged along the x direction, and the two target units of the web target are arranged along the z direction. The camera device is located above the bridge deck target and below the web target.

12. An intelligent measurement system for monitoring data of closure construction, characterized in that: It includes data storage module, image analysis module and calculation module; The data storage module is used to receive the three-dimensional coordinates of the camera device and the target, and the image captured by the camera device; The image analysis module is used to identify the target in the image captured by the camera device and obtain its pixel coordinates; The calculation module is used to calculate the three-dimensional coordinates of the target at the current moment according to the pixel coordinates of the target in the collected image and the current three-dimensional coordinates of the camera device, and to calculate the real-time height difference and axis deviation data of the joint mouth according to the three-dimensional coordinates of the camera device and the target at the current moment.

13. A non-transitory computer-readable storage medium, characterized in that: Used to store computer programs or instructions. When the computer programs or instructions are executed by a computer, the intelligent measurement method for closure construction monitoring data as described in any one of claims 1 to 8 is implemented.

14. A computer program product, characterized in that The computer program product includes computer instructions; when part or all of the computer instructions are run on a computer, the method for intelligent measurement of closure construction monitoring data as described in any one of claims 1 to 8 is executed.

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