An integrated bridge displacement measurement method and device

Abstract

The present invention relates to the field of measurement technologies, and specifically relates to an integrated bridge displacement measurement method and device. The method includes: determining alternative sensors with displacements in N side images of an integrated bridge according to the positional relationships of each sensor in two adjacent side images of the integrated bridge obtained; calculating the displacement smoothness of the alternative sensors in the N side images of the integrated bridge according to the positional distributions of the respective alternative sensors in the N side images of the integrated bridge; determining the displacement smoothness deviation value of the i-th side image of the integrated bridge according to the difference between the displacement smoothness of the alternative sensors in the i-th side image of the integrated bridge and the displacement smoothness of the alternative sensors in the (i + 1)-th to N-th side images of the integrated bridge; and determining the longitudinal displacement of the integrated bridge according to the i-th side image of the integrated bridge when the deviation degree is less than a preset deviation threshold. The present invention accurately measures the longitudinal displacement of the bridge.

Description

Technical Field

[0001] The present invention relates to the technical field of measurement, and particularly to an integrated bridge displacement measurement method and device. Background Art

[0002] An integrated bridge is a type of bridge in which the main structures and functional components of the bridge are integrally designed and constructed. After the integrated bridge is built, due to external factors such as soft seabed silt, the bridge itself will generate axial displacement, resulting in uneven sections on the road section that was previously flush with the ground between the bridge itself and the ground, thus affecting the entry of vehicles. In severe cases, traffic accidents may also occur. Therefore, it is necessary to continuously detect the longitudinal displacement of the bridge.

[0003] Currently, a high-definition camera is carried by a drone to take pictures of the bridge, and the taken pictures are transmitted in real time to detect the longitudinal displacement of the bridge based on the taken pictures. However, the drone is light in weight and is easily interfered by external factors such as its own movement and wind, resulting in vibration of the drone, unstable attitude and displacement changes. Therefore, the camera cannot maintain absolute horizontal at the imaging moment, and the collected images will be deformed accordingly, and cannot directly represent the displacement of the integrated bridge, resulting in the longitudinal displacement of the bridge that cannot be accurately measured from the taken pictures. Summary of the Invention

[0004] In order to solve the technical problem of being unable to accurately measure the longitudinal displacement of the bridge, the purpose of the present invention is to provide an integrated bridge displacement measurement method and device, and the specific technical solutions adopted are as follows:

[0005] Obtain N side images of the integrated bridge; wherein, the side images of the integrated bridge contain sensors arranged in an array on the side of the bridge.

[0006] Determine the alternative sensors with displacement in the N side images of the integrated bridge according to the positional relationship of each sensor in two adjacent side images of the integrated bridge.

[0007] Calculate the displacement smoothness of the alternative sensors in the N side images of the integrated bridge according to the positional distribution of each alternative sensor in the N side images of the integrated bridge.

[0008] Determine the displacement smoothness deviation value of the i-th side image of the integrated bridge according to the difference between the displacement smoothness of the alternative sensors in the i-th side image of the integrated bridge and the displacement smoothness of the alternative sensors in the (i + 1)-th to N-th side images of the integrated bridge among the N side images of the integrated bridge.

[0009] When the deviation degree of the side image of the i-th integrated bridge is less than a preset deviation threshold, determine the longitudinal displacement of the integrated bridge according to the side image of the i-th integrated bridge; where i is a positive integer and N is a positive integer greater than 1.

[0010] Preferably, according to the position distribution of each alternative sensor in the side images of N integrated bridges, calculate the displacement smoothness of the alternative sensors in the side images of N integrated bridges, including:

[0011] For the position distribution of the u-th alternative sensor in the side image of the i-th integrated bridge in the side images of N integrated bridges, determine N - 1 displacement differences corresponding to the u-th alternative sensor;

[0012] According to the N - 1 displacement differences corresponding to the u-th alternative sensor, calculate the displacement distribution uniformity of the u-th alternative sensor;

[0013] According to the displacement distribution uniformity of each alternative sensor in the side image of the i-th integrated bridge and the total number of alternative sensors in the side image of the i-th integrated bridge, calculate the displacement smoothness of the alternative sensors in the side image of the i-th integrated bridge; u is a positive integer.

[0014] Preferably, for the position distribution of the u-th alternative sensor in the side image of the i-th integrated bridge in the side images of N integrated bridges, determine N - 1 displacement differences corresponding to the u-th alternative sensor, including:

[0015] Calculate the distance between the u-th alternative sensor in the side image of the i-th integrated bridge and the u-th alternative sensor in the side image of the (i + 1)-th integrated bridge, and obtain N - 1 displacement differences corresponding to the u-th alternative sensor.

[0016] Preferably, according to the N - 1 displacement differences corresponding to the u-th alternative sensor, calculate the displacement distribution uniformity of the u-th alternative sensor, including:

[0017] Perform standard score calculation on the N - 1 displacement differences corresponding to the u-th alternative sensor to obtain N - 1 standard scores corresponding to the u-th alternative sensor;

[0018] Perform skewness calculation on the N - 1 standard scores corresponding to the u-th alternative sensor to obtain the displacement distribution uniformity of the u-th alternative sensor.

[0019] Preferably, according to the displacement distribution uniformity of each alternative sensor in the side image of the i-th integrated bridge and the total number of alternative sensors in the side image of the i-th integrated bridge, calculate the displacement smoothness of the alternative sensors in the side image of the i-th integrated bridge, including:

[0020] Perform standard deviation processing on the displacement distribution uniformity of each alternative sensor in the side image of the i-th integrated bridge to obtain the standardized displacement distribution uniformity of each alternative sensor;

[0021] Perform a summation operation on the standardized displacement distribution uniformity of each alternative sensor, and calculate the mean of the operation result to obtain the displacement smoothness of the alternative sensors in the side image of the i-th integrated bridge.

[0022] Preferably, according to the difference in the displacement smoothness of the alternative sensors between the side image of the i-th integrated bridge and the side images of the (i + 1)-th to N-th integrated bridges among the N side images of the integrated bridges, determine the displacement smoothness deviation value of the side image of the i-th integrated bridge, including:

[0023] Perform a summation operation on the displacement smoothness of the alternative sensors in the side images of the (i + 1)-th to N-th integrated bridges, and calculate the mean of the operation result to obtain the displacement smoothness mean value;

[0024] Calculate the difference between the displacement smoothness of the alternative sensors in the side image of the i-th integrated bridge and the displacement smoothness mean value to obtain the displacement smoothness difference of the alternative sensors in the side image of the i-th integrated bridge;

[0025] Calculate the ratio of the displacement smoothness difference of the alternative sensors in the side image of the i-th integrated bridge to the displacement smoothness of the alternative sensors in the side image of the i-th integrated bridge to obtain the displacement smoothness deviation value of the side image of the i-th integrated bridge.

[0026] Preferably, when the deviation degree of the side image of the i-th integrated bridge is less than the preset deviation threshold, determine the longitudinal displacement of the integrated bridge according to the side image of the i-th integrated bridge, including:

[0027] When the deviation degree of the side image of the i-th integrated bridge is less than the preset deviation threshold, determine the alternative sensors with displacement in the side image of the i-th integrated bridge as target sensors;

[0028] According to the side image of the i-th integrated bridge and the side image of the integrated bridge corresponding to when the target sensors do not have displacement, determine the longitudinal displacement of the integrated bridge.

[0029] Preferably, determining the longitudinal displacement of the integrated bridge according to the side image of the i-th integrated bridge and the side image of the integrated bridge corresponding to the case where the target sensor does not move includes:

[0030] Determining the center points of the bridge areas in the side image of the i-th integrated bridge and the side image of the integrated bridge corresponding to the case where the target sensor does not move respectively, and calculating the distance between the determined center points of the bridge areas to obtain the longitudinal displacement of the integrated bridge.

[0031] Preferably, the method further includes:

[0032] In the case where the deviation degree of the side image of the i-th integrated bridge is not less than a preset deviation threshold, no longitudinal displacement calculation is performed on the integrated bridge.

[0033] The present invention also provides an integrated bridge displacement measurement device, and the device includes:

[0034] An acquisition module, configured to acquire N side images of the integrated bridge; wherein, the side image of the integrated bridge includes sensors arranged in an array on the side of the bridge.

[0035] A screening module, configured to determine the alternative sensors that have moved in the N side images of the integrated bridge according to the position relationship of each sensor in the adjacent two side images of the integrated bridge.

[0036] A calculation module, configured to calculate the displacement smoothness of the alternative sensors in the N side images of the integrated bridge according to the position distribution of each alternative sensor in the N side images of the integrated bridge.

[0037] A first response module, configured to determine the displacement smoothness deviation value of the i-th side image of the integrated bridge according to the difference between the displacement smoothness of the i-th side image of the integrated bridge in the N side images of the integrated bridge and the displacement smoothness of the alternative sensors in the (i + 1)-th to N-th side images of the integrated bridge in the N side images of the integrated bridge.

[0038] A measurement module, configured to determine the longitudinal displacement of the integrated bridge according to the i-th side image of the integrated bridge in the case where the deviation degree of the i-th side image of the integrated bridge is less than a preset deviation threshold; wherein, i is a positive integer and N is a positive integer greater than 1.

[0039] The present invention has the following beneficial effects:

[0040] Obtain N side images of an integrated bridge; wherein, the side images of the integrated bridge contain sensors arranged in an array on the side of the bridge; determine the alternative sensors with displacement in the N side images of the integrated bridge according to the positional relationship of each sensor in adjacent two side images of the integrated bridge; calculate the displacement smoothness of the alternative sensors in the N side images of the integrated bridge according to the positional distribution of each alternative sensor in the N side images of the integrated bridge; determine the displacement smoothness deviation value of the i-th side image of the integrated bridge according to the difference between the displacement smoothness of the alternative sensors in the i-th side image of the integrated bridge and the displacement smoothness of the alternative sensors in the (i + 1)-th to N-th side images of the integrated bridge among the N side images of the integrated bridge; when the deviation degree of the i-th side image of the integrated bridge is less than the preset deviation threshold, determine the longitudinal displacement of the integrated bridge according to the i-th side image of the integrated bridge. Thus, by using the positional distribution of the alternative sensors with displacement in the side images of each integrated bridge, the displacement smoothness of each alternative sensor is determined, and then the deviation analysis of the displacement smoothness of each alternative sensor in the side images of different integrated bridges is carried out. In this way, the side images of the integrated bridge screened by the displacement smoothness deviation value have displacements caused by the bridge's own factors, so that the longitudinal displacement of the bridge can be accurately measured according to the screened side images of the integrated bridge. Description of the Drawings

[0041] In order to more clearly illustrate the technical solutions and advantages in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0042] Figure 1 It is a flowchart of a method for measuring the displacement of an integrated bridge provided by an embodiment of the present invention;

[0043] Figure 2 It is a schematic diagram of the distribution of sensors on an integrated bridge provided by an embodiment of the present invention;

[0044] Figure 3 It is a schematic diagram of establishing a coordinate system on the side image of an integrated bridge provided by an embodiment of the present invention;

[0045] Figure 4 It is a schematic diagram of the displacement smoothness of an acceleration sensor array caused by the vibration of an unmanned aerial vehicle provided by an embodiment of the present invention;

[0046] Figure 5 Schematic diagram of the displacement smoothness of the acceleration sensor array caused by the factors of the bridge itself provided by an embodiment of the present invention;

[0047] Figure 6 Schematic diagram of an integrated bridge displacement measuring device provided by an embodiment of the present invention. Detailed implementation manners

[0048] In order to further elaborate on the technical means and effects adopted by the present invention to achieve the intended invention purpose, the following, in conjunction with the accompanying drawings and preferred embodiments, details the specific implementation manners, structures, features and effects of an integrated bridge displacement measuring method and device according to the present invention. In the following description, different "one embodiment" or "another embodiment" do not necessarily refer to the same embodiment. In addition, the specific features, structures or characteristics in one or more embodiments may be combined in any suitable form.

[0049] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the technical field to which the present invention belongs.

[0050] It should be noted that, to ensure the significance of the calculation results, in the fractional operations in the embodiments of the present invention, when encountering the situation where the denominator is 0, a tuning factor greater than 0 needs to be added to the denominator to prevent the denominator from being 0. The value of the tuning factor is set by the implementer according to the actual situation, and no special limitation is made in this application.

[0051] The following specifically describes the specific solutions of an integrated bridge displacement measuring method and device provided by the present invention with reference to the accompanying drawings.

[0052] Please refer to Figure 1 , which shows the flowchart of a method for an integrated bridge displacement measuring method provided by an embodiment of the present invention. In an exemplary embodiment, an integrated bridge displacement measuring method is provided, including:

[0053] S110. Obtain N side images of the integrated bridge; wherein, the side images of the integrated bridge include sensors arranged in an array on the side of the bridge;

[0054] S120. Determine the candidate sensors with displacement in the N side images of the integrated bridge according to the positional relationship of each sensor in two adjacent side images of the integrated bridge;

[0055] S130. Calculate the displacement smoothness of the candidate sensors in the N side images of the integrated bridge according to the positional distribution of each candidate sensor in the N side images of the integrated bridge;

[0056] S140. Determine the displacement smoothness deviation value of the i-th side image of the integrated bridge based on the difference in the displacement smoothness of the alternative sensors between the i-th side image of the integrated bridge and the (i + 1)-th to N-th side images of the integrated bridge among N side images of the integrated bridge;

[0057] S150. When the deviation degree of the i-th side image of the integrated bridge is less than the preset deviation threshold, determine the longitudinal displacement of the integrated bridge according to the i-th side image of the integrated bridge; where i is a positive integer and N is a positive integer greater than 1.

[0058] In step S110, exemplarily, the side image of the integrated bridge is captured by a drone. In this embodiment, an industrial camera is mounted on the drone to collect bridge images on the side of the integrated bridge. Images are collected every 6 hours at the same position, and the bridge images within one month are collected to obtain several side images of the integrated bridge.

[0059] It should be noted that as Figure 2 shown, in this embodiment, the sensor is exemplified by an acceleration sensor. There are several acceleration sensors on the side of the bridge, and the number of acceleration sensors is set according to the actual situation and is not limited here. The acceleration sensors are arranged in an array, which can be called an acceleration sensor array. The positions of the acceleration sensors obtained in the side image of the integrated bridge are recorded as reference blocks for several acceleration sensors in each bridge image.

[0060] In step S120, exemplarily, due to external factors such as soft seabed silt, the displacement of the integrated bridge will change. Excessive bridge displacement will cause changes in the geometric shape of the bridge, affecting its design function and load distribution. At the same time, the structural problems caused by the displacement will affect the smoothness of traffic and driving safety. Through the bridge images captured by the drone, the displacement situation of the bridge can be evaluated. However, due to the light weight of the drone, it is easily disturbed by external factors such as its own movement and wind, resulting in vibration of the drone, unstable attitude and displacement changes. Therefore, the camera cannot maintain absolute horizontal at the imaging moment, and the collected images are deformed accordingly, which affects the displacement measurement of the integrated bridge. Further analysis of the side images of the integrated bridge captured by the drone is required.

[0061] For the captured side images of the integrated bridge, the acceleration sensor array on the bridge plays an important role in calibration and measurement. When the bridge undergoes displacement, the acceleration sensor array on the bridge will also undergo displacement accordingly. Therefore, by comparing the acceleration sensors in the side images of the integrated bridge captured at different time points, the displacement situation of the bridge can be effectively detected and analyzed.

[0062] Specifically, since the shape of the acceleration sensor is square, each interior angle of the acceleration sensor should be close to 90 degrees. Edge detection is performed on each bridge image, and shape matching is performed on each contour in the result of the edge detection. A polygon with an interior angle deviation from 90 degrees less than or equal to 10 degrees is recorded as the acceleration sensor on the bridge. In this embodiment, as Figure 3 shown, a rectangular coordinate system is established with the center position of the side image of each integrated bridge as the coordinate origin, and the coordinates of each acceleration sensor in the side image of each integrated bridge are obtained. According to the distance between the coordinates of the acceleration sensor in the side image of the i-th integrated bridge and the coordinates of the same acceleration sensor in the side image of the (i + 1)-th integrated bridge, the displacement of each acceleration sensor is determined.

[0063] For example, to determine the positional relationship between the j-th acceleration sensor in the side image of the i-th integrated bridge and the j-th acceleration sensor in the side image of the (i + 1)-th integrated bridge, it should be noted that the following formula calculates based on the center point of the acceleration sensor, and the specific formula is as follows:

[0064]

[0065] where, represents the displacement of the j-th acceleration sensor in the side image of the (i + 1)-th integrated bridge; represents the abscissa of the j-th acceleration sensor in the side image of the i-th integrated bridge; represents the abscissa of the j-th acceleration sensor in the side image of the i-th integrated bridge; represents the ordinate of the j-th acceleration sensor in the side image of the (i + 1)-th integrated bridge; represents the ordinate of the j-th acceleration sensor in the side image of the i-th integrated bridge.

[0066] When is equal to 0, it indicates that the j-th acceleration sensor in the side image of the i-th integrated bridge has not undergone displacement.

[0067] When is greater than 0, it indicates that the j-th acceleration sensor in the side image of the (i + 1)-th integrated bridge has undergone displacement. This displacement may be caused by the bridge itself or may be due to the vibration of the UAV. Therefore, the j-th acceleration sensor is determined as an alternative acceleration sensor for subsequent judgment of the cause of displacement. It can be understood that according to the above formula, the displacement of the acceleration sensors in the side images of N integrated bridges is judged to determine the alternative acceleration sensors with displacement in the side images of N integrated bridges.

[0068] In step S130, exemplarily, in an integrated bridge, the design of the bridge takes into account the overall stiffness and continuity, which makes the local axial displacement affect the entire structure. Specifically, when a certain acceleration sensor undergoes displacement, this displacement is not limited to that position but will be transmitted in the bridge structure and affect the positions of other acceleration sensors.

[0069] As Figure 4 shown, if the displacement of the acceleration sensor is caused by the vibration of the drone, the vibration will spread in the area around the acceleration sensor, resulting in similar displacements of these nearby acceleration sensors. This effect usually exhibits a certain degree of volatility and locality.

[0070] As Figure 5 shown, if the displacement of the acceleration sensor is caused by factors of the bridge itself, such as load changes, temperature fluctuations, or structural deformations, this displacement will spread through the overall stiffness of the bridge. Specifically, the displacement of the acceleration sensor will gradually affect the surrounding acceleration sensors. The acceleration sensors closer to this acceleration sensor will experience larger displacement changes, while the acceleration sensors farther away from this acceleration sensor may only have minor displacement changes or may not be affected at all.

[0071] Therefore, for the j-th alternative acceleration sensor that has undergone displacement, the displacement smoothness of the alternative sensors in N side images of the integrated bridge is calculated based on the position distribution of the j-th alternative acceleration sensor in the N side images of the integrated bridge.

[0072] Preferably, step S130 includes: S1310. Determine N - 1 displacement differences corresponding to the u-th alternative sensor based on the position distribution of the u-th alternative sensor in the i-th side image of the integrated bridge among the N side images of the integrated bridge;

[0073] S1320. Calculate the displacement uniformity of the u-th alternative sensor based on the N - 1 displacement differences corresponding to the u-th alternative sensor;

[0074] S1330. Calculate the displacement smoothness of the alternative sensors in the i-th side image of the integrated bridge based on the displacement uniformity of each alternative sensor in the i-th side image of the integrated bridge and the total number of alternative sensors in the i-th side image of the integrated bridge; where u is a positive integer.

[0075] Exemplarily, the displacement of the reference block caused by the factors of the bridge itself will present a smooth transition in the image. Since these displacements are usually continuous and gradual, as the distance increases, the displacement change will also smoothly transition to the surrounding reference blocks. This smoothness is manifested in the image as a stable displacement change between adjacent reference blocks, without obvious mutations or irregular changes. The displacement caused by the vibration of the UAV is usually local and random, so it will show poor smoothness in the image. The vibration may cause mutations or drastic changes in the displacement of the reference block in some areas. This local fluctuation will be displayed as an irregular displacement distribution in the image.

[0076] Optionally, step S1310 includes: calculating the distance between the u-th alternative sensor in the side image of the i-th integrated bridge and the u-th alternative sensor in the side image of the (i + 1)-th integrated bridge to obtain N - 1 displacement differences corresponding to the u-th alternative sensor.

[0077] Specifically, for the u-th alternative acceleration sensor in the side image of each integrated bridge, calculate the Euclidean distance between the center point of the u-th alternative acceleration sensor in the side image of the i-th integrated bridge and the center point of the u-th alternative acceleration sensor in the side image of the (i + 1)-th integrated bridge to obtain the displacement difference between the u-th alternative acceleration sensor in the side image of the i-th integrated bridge and the u-th alternative acceleration sensor in the side image of the (i + 1)-th integrated bridge, and use it as the i-th pair of displacement differences of the u-th alternative acceleration sensor. Calculate the displacement differences of the u-th alternative acceleration sensor in the side image of the (i + 1)-th integrated bridge and the side image of the (i + 2)-th integrated bridge in the above manner until the displacement differences of the u-th alternative acceleration sensor are calculated for every two adjacent side images of the N integrated bridges. In this way, N - 1 displacement differences corresponding to the u-th alternative sensor are obtained. For example, when taking 10 side images of the integrated bridge, in the case of determining that the 3rd acceleration sensor has a displacement, calculate the Euclidean distance between the 3rd acceleration sensor in adjacent two images among the 10 side images of the integrated bridge, so as to calculate 9 displacement differences.

[0078] Optionally, step S1320 includes: calculating the standard scores for the N - 1 displacement differences corresponding to the u-th alternative sensor to obtain N - 1 standard scores corresponding to the u-th alternative sensor;

[0079] Calculate the skewness of the N - 1 standard scores corresponding to the u-th alternative sensor to obtain the displacement distribution uniformity of the u-th alternative sensor.

[0080] Specifically, since the standard score can be used to measure the relative position of a data point in a dataset, the standard score calculation is performed on the N - 1 displacement differences corresponding to the u-th alternative acceleration sensor. The standard score is also known as the z-score. The z-score measures the number of standard deviations of each data point relative to the mean, and the specific formula is as follows:

[0081]

[0082] Among them, represents the standard score of the w-th pair of displacement differences of the u-th alternative acceleration sensor; represents the w-th pair of displacement differences of the u-th alternative acceleration sensor; represents the average value of all pairs of displacement differences corresponding to the u-th alternative acceleration sensor; represents the standard deviation of all pairs of displacement differences corresponding to the u-th alternative acceleration sensor.

[0083] Furthermore, the calculation formula for the displacement distribution uniformity of the u-th alternative sensor is as follows:

[0084]

[0085] Among them, represents the displacement distribution uniformity of the u-th alternative acceleration sensor; represents the number of side images of the integrated bridge collected. It should be noted that the larger the value of, the more uniform the displacement difference distribution of the u-th alternative acceleration sensor in the image, and the greater the possibility that the u-th alternative acceleration sensor is caused by the bridge's own factors.

[0086] Optionally, step S1330 includes: performing standardized deviation processing on the displacement distribution uniformity of each alternative sensor in the i-th side image of the integrated bridge to obtain the standardized displacement distribution uniformity of each alternative sensor;

[0087] Performing a summation operation on the standardized displacement distribution uniformity of each alternative sensor and calculating the mean of the operation result to obtain the displacement smoothness of the alternative sensors in the i-th side image of the integrated bridge.

[0088] Specifically, performing standardized deviation calculation on the displacement distribution uniformity of each alternative sensor can help understand the degree of deviation of data points relative to the mean and eliminate the influence of dimensions, so as to more accurately calculate the displacement smoothness of the alternative sensors in the side image of the integrated bridge.

[0089] In this embodiment, the calculation formula for the displacement smoothness of the alternative sensors in the i-th side image of the integrated bridge is as follows:

[0090]

[0091] Among them, represents the displacement smoothness of the alternative acceleration sensor in the th side image of the integrated bridge; represents the number of alternative acceleration sensors in the th side image of the integrated bridge; represents the displacement distribution uniformity of the th alternative acceleration sensor in the th side image of the integrated bridge; represents the mean value of the displacement distribution uniformity of all alternative acceleration sensors with displacement in the th side image of the integrated bridge; represents the absolute value function; represents the maximum value among the displacement distribution uniformities of all alternative acceleration sensors in the th side image of the integrated bridge; represents the minimum value among the displacement distribution uniformities of all alternative acceleration sensors in the th side image of the integrated bridge;

[0092] It should be noted that the larger the value of

[0093] , the acceleration sensor array in the image shows larger fluctuations and irregular changes, indicating that the displacement of the acceleration sensor may be caused by the vibration of the drone.

[0094] During the process of taking side images of an integrated bridge, the vibration of the drone may cause the displacement of the acceleration sensor in the image. This displacement is usually temporary and may be caused by the jitter or vibration of the drone. In subsequent image captures, as the influence of the drone's vibration decreases or disappears, the displacement of the acceleration sensor may gradually return to its original position. Therefore, in these subsequent images, the displacement of the acceleration sensor may not appear significant and may even return to its initial state. Thus, if the displacement of the acceleration sensor is caused by the vibration of the drone, the difference in smoothness in different images is relatively large because the displacement caused by vibration is temporary and inconsistent, and the smoothness will show high volatility.

[0095] In contrast, the displacement of the acceleration sensor caused by factors inherent to the bridge itself is usually due to long-term deformation of the bridge structure, material fatigue, or other internal factors. The displacement caused by these factors is persistent and stable. Once it occurs, it usually does not recover in a short period of time. Therefore, in subsequent captured images, the displacement of the acceleration sensor will persist. Thus, if the displacement of the acceleration sensor is caused by factors inherent to the bridge itself, the difference in smoothness in different images is relatively small because the displacement of the bridge is persistent and stable, and the smoothness will be relatively consistent. Therefore, it is necessary to further calculate the degree of deviation of the smoothness to determine the cause of the displacement of the alternative acceleration sensor.

[0096] Preferably, step S140 includes: performing a summation operation on the displacement smoothness of the alternative sensor in the (i + 1)-th to the N-th side images of the integrated bridge, and calculating the mean value of the operation result to obtain the mean displacement smoothness;

[0097] Calculating the difference between the displacement smoothness of the alternative sensor in the i-th side image of the integrated bridge and the mean displacement smoothness to obtain the displacement smoothness difference of the alternative sensor in the i-th side image of the integrated bridge;

[0098] Calculating the ratio of the displacement smoothness difference of the alternative sensor in the i-th side image of the integrated bridge to the displacement smoothness of the alternative sensor in the i-th side image of the integrated bridge to obtain the displacement smoothness deviation value of the i-th side image of the integrated bridge.

[0099] Specifically, by calculating the difference between the displacement smoothness of the alternative sensor in the i-th side image of the integrated bridge and the mean value of the displacement smoothness of the alternative sensor in the subsequent captured side images of the integrated bridge, it is determined whether the displacement of the alternative sensor in the i-th side image of the integrated bridge is caused by factors inherent to the bridge itself or by the vibration of the drone.

[0100] In this embodiment, the calculation formula for the displacement smoothness deviation value of the i-th side image of the integrated bridge is as follows:

[0101]

[0102] wherein, represents the displacement smoothness deviation value of the side image of the i-th integrated bridge; represents the displacement smoothness of the alternative acceleration sensor of the side image of the i-th integrated bridge; represents the displacement smoothness deviation value of the side image of the side image of the i-th integrated bridge;

[0103] represents the mean value of the displacement smoothness of the alternative acceleration sensor of the side image of the integrated bridge taken after the

[0104] i-th image. The larger this value is, the more likely it is that the displacement of the alternative acceleration sensor in the subsequent captured images is caused by the vibration of the drone. represents the difference between the displacement smoothness of the alternative acceleration sensor of the side image of the

[0105] i-th integrated bridge and the mean value of the smoothness of the reference block array in the subsequent captured images. The smaller this value is, the more likely it is that the displacement of the alternative acceleration sensor in the

[0106] side image of the i-th integrated bridge is caused by the factors of the bridge itself.

[0107] Preferably, step S150 includes: S1510. When the deviation degree of the side image of the i-th integrated bridge is less than the preset deviation threshold, determine the alternative sensor with displacement in the side image of the i-th integrated bridge as the target sensor;

[0108] S1520. Determine the longitudinal displacement of the integrated bridge according to the side image of the i-th integrated bridge and the side image of the integrated bridge corresponding to the situation where the target sensor has no displacement.

[0109] Optionally, step S1520 includes: respectively determine the center points of the bridge areas in the side image of the i-th integrated bridge and the side image of the integrated bridge corresponding to the situation where the target sensor has no displacement, and calculate the distance between the determined center points of the bridge areas to obtain the longitudinal displacement of the integrated bridge.

[0110] Specifically, when the deviation degree of the side image of the i-th integrated bridge is less than the preset deviation threshold, it is determined that the displacement of the alternative acceleration sensor in the side image of the i-th integrated bridge is caused by the bridge's own factors. According to the alternative acceleration sensor in the side image of the i-th integrated bridge, find the side image of the integrated bridge when the alternative acceleration sensor has no displacement, which can be called the side image of the integrated bridge without displacement. In this way, the side image of the i-th integrated bridge and the side image of the integrated bridge without displacement are obtained. Take the center point of the image as the coordinate center and establish a rectangular coordinate system. Perform target recognition on the side image of the i-th integrated bridge and the side image of the integrated bridge without displacement respectively, and extract their respective bridge areas. Use the center points of the bridge areas to calculate the distance. The specific formula is as follows:

[0111]

[0112] Among them, represents the longitudinal displacement of the integrated bridge, that is, the bridge displacement caused by the bridge's own factors; represents the abscissa of the center point of the bridge area in the side image of the i-th integrated bridge; represents the ordinate of the center point of the bridge area in the side image of the i-th integrated bridge; represents the abscissa of the center point of the bridge area in the side image of the integrated bridge without displacement; represents the ordinate of the center point of the bridge area in the side image of the integrated bridge without displacement.

[0113] Furthermore, when the longitudinal displacement of the integrated bridge is greater than or equal to 20% of the bridge height, trigger the alarm device, and relevant staff temporarily close or restrict the passage of the bridge to ensure the safety of pedestrians and vehicles.

[0114] In the technical solution of the present application, N side images of an integrated bridge are acquired; wherein, the side images of the integrated bridge include sensors arranged in an array on the side of the bridge; according to the positional relationship of each sensor in two adjacent side images of the integrated bridge, alternative sensors that have undergone displacement in the N side images of the integrated bridge are determined; according to the positional distribution of each alternative sensor in the N side images of the integrated bridge, the displacement smoothness of the alternative sensors in the N side images of the integrated bridge is calculated; according to the difference between the displacement smoothness of the alternative sensors in the i-th side image of the N side images of the integrated bridge and the displacement smoothness of the alternative sensors in the (i + 1)-th to N-th side images of the N side images of the integrated bridge, the displacement smoothness deviation value of the i-th side image of the integrated bridge is determined; when the deviation degree of the i-th side image of the integrated bridge is less than a preset deviation threshold, the longitudinal displacement of the integrated bridge is determined according to the i-th side image of the integrated bridge. Thus, it can be seen that by using the positional distribution of the alternative sensors that have undergone displacement in the side images of each integrated bridge, the displacement smoothness of each alternative sensor is determined, and then the deviation analysis of the displacement smoothness of each alternative sensor in the side images of different integrated bridges is carried out. In this way, the side images of the integrated bridge selected through the displacement smoothness deviation value have displacements caused by the bridge's own factors, so that the longitudinal displacement of the bridge can be accurately measured according to the selected side images of the integrated bridge.

[0115] In one implementation, the method further includes:

[0116] When the deviation degree of the i-th side image of the integrated bridge is not less than the preset deviation threshold, no longitudinal displacement calculation is performed on the integrated bridge.

[0117] Specifically, the preset deviation threshold can be set according to the actual situation and is not limited herein. For example, 0.5. When the displacement smoothness deviation value of the i-th side image of the integrated bridge is not less than 0.5, it indicates that the displacement of the alternative acceleration sensor in the image is caused by the vibration of the unmanned aerial vehicle and not the real movement of the bridge, that is, the bridge has not undergone displacement. Therefore, there is no need to calculate the longitudinal displacement of the integrated bridge. This ensures the accuracy of bridge displacement measurement.

[0118] Please refer to Figure 6 , which shows a schematic diagram of an integrated bridge displacement measurement device provided by an embodiment of the present invention. In an exemplary embodiment, an integrated bridge displacement measurement device is provided, including:

[0119] An acquisition module 610, configured to acquire N side images of an integrated bridge; wherein, the side images of the integrated bridge include sensors arranged in an array on the side of the bridge.

[0120] A screening module 620, configured to determine alternative sensors with displacements in the N side images of the integrated bridge according to the positional relationships of the sensors in two adjacent side images of the integrated bridge.

[0121] A calculation module 630, configured to calculate the displacement smoothness of the alternative sensors in the N side images of the integrated bridge according to the positional distribution of the alternative sensors in the N side images of the integrated bridge.

[0122] A first response module 640, configured to determine the displacement smoothness deviation value of the i-th side image of the integrated bridge according to the difference between the displacement smoothness of the alternative sensors in the i-th side image of the integrated bridge and the displacement smoothness of the alternative sensors in the (i + 1)-th to N-th side images of the integrated bridge among the N side images of the integrated bridge.

[0123] A measurement module 650, configured to determine the longitudinal displacement of the integrated bridge according to the i-th side image of the integrated bridge when the deviation degree of the i-th side image of the integrated bridge is less than a preset deviation threshold; wherein, i is a positive integer and N is a positive integer greater than 1.

[0124] The device further includes: a second response module, configured to not perform longitudinal displacement calculation on the integrated bridge when the deviation degree of the i-th side image of the integrated bridge is not less than the preset deviation threshold.

[0125] In other embodiments, a computer program product is further provided. When the computer program product runs on a computer, it causes the computer to execute the above-related steps to implement an integrated bridge displacement measurement method provided in the above embodiments.

[0126] In other embodiments, a computer-readable storage medium is further provided. The computer-readable storage medium stores computer program code. When the computer program code runs on a computer, it causes the computer to execute the above-related method steps to implement an integrated bridge displacement measurement method provided in the above embodiments.

[0127] Wherein, the provided system, device, computer program product, and computer-readable storage medium are all used to execute the corresponding methods provided above. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding methods provided above, and will not be elaborated here.

[0128] It should be noted that: the above order of the embodiments of the present invention is only for description and does not represent the superiority or inferiority of the embodiments. The processes depicted in the drawings do not necessarily require the specific order or sequential order shown to achieve the desired results. In certain embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0129] Each embodiment in this specification is described in a progressive manner. For the same or similar parts among the embodiments, reference can be made to each other. The key point of each embodiment is to illustrate the differences from other embodiments.

Claims

1. An integrated bridge displacement measurement method, characterized in that, The method includes: Obtaining N side images of an integrated bridge; wherein, the side images of the integrated bridge include sensors arranged in an array on the side of the bridge. Determining alternative sensors with displacements in the N side images of the integrated bridge according to the positional relationships of the sensors in two adjacent side images of the integrated bridge. Calculating the displacement smoothness of the alternative sensors in the N side images of the integrated bridge according to the positional distribution of the alternative sensors in the N side images of the integrated bridge. Determining the displacement smoothness deviation value of the i-th side image of the integrated bridge according to the difference in the displacement smoothness of the alternative sensors between the i-th side image of the integrated bridge and the (i + 1)-th to N-th side images of the integrated bridge in the N side images of the integrated bridge. When the deviation degree of the i-th side image of the integrated bridge is less than a preset deviation threshold, determining the longitudinal displacement of the integrated bridge according to the i-th side image of the integrated bridge; where i is a positive integer and N is a positive integer greater than 1.

2. The integrated bridge displacement measurement method according to claim 1, wherein Calculating the displacement smoothness of the alternative sensors in the N side images of the integrated bridge according to the positional distribution of the alternative sensors in the N side images of the integrated bridge includes: For the positional distribution of the u-th alternative sensor in the i-th side image of the integrated bridge in the N side images of the integrated bridge, determining N - 1 displacement differences corresponding to the u-th alternative sensor. Calculating the displacement distribution uniformity of the u-th alternative sensor according to the N - 1 displacement differences corresponding to the u-th alternative sensor. Calculating the displacement smoothness of the alternative sensors in the i-th side image of the integrated bridge according to the displacement distribution uniformity of the alternative sensors in the i-th side image of the integrated bridge and the total number of alternative sensors in the i-th side image of the integrated bridge; u is a positive integer.

3. The integrated bridge displacement measurement method according to claim 2, characterized in that For the positional distribution of the u-th alternative sensor in the i-th side image of the integrated bridge in the N side images of the integrated bridge, determining N - 1 displacement differences corresponding to the u-th alternative sensor includes: Calculating the distance between the u-th alternative sensor in the i-th side image of the integrated bridge and the u-th alternative sensor in the (i + 1)-th side image of the integrated bridge to obtain N - 1 displacement differences corresponding to the u-th alternative sensor.

4. The integrated bridge displacement measurement method according to claim 2, wherein Calculating the displacement distribution uniformity of the u-th alternative sensor according to the N - 1 displacement differences corresponding to the u-th alternative sensor includes: Calculating the standard scores of the N - 1 displacement differences corresponding to the u-th alternative sensor to obtain N - 1 standard scores corresponding to the u-th alternative sensor. Calculating the displacement distribution uniformity of the u-th alternative sensor by calculating the skewness of the N - 1 standard scores corresponding to the u-th alternative sensor.

5. The integrated bridge displacement measurement method according to claim 2, wherein, Calculate the displacement smoothness of the alternative sensors in the side image of the i-th integrated bridge according to the displacement distribution uniformity of each alternative sensor in the side image of the i-th integrated bridge and the total number of alternative sensors in the side image of the i-th integrated bridge, including: Perform a standard deviation process on the displacement distribution uniformity of each alternative sensor in the side image of the i-th integrated bridge to obtain the standardized displacement distribution uniformity of each alternative sensor; Perform a summation operation on the standardized displacement distribution uniformity of each alternative sensor, and calculate the mean of the operation result to obtain the displacement smoothness of the alternative sensors in the side image of the i-th integrated bridge.

6. The integrated bridge displacement measurement method according to claim 2, wherein Determine the displacement smoothness deviation value of the side image of the i-th integrated bridge according to the difference in the displacement smoothness of the alternative sensors between the side image of the i-th integrated bridge and the side images of the (i + 1)-th to N-th integrated bridges among the N side images of the integrated bridges, including: Perform a summation operation on the displacement smoothness of the alternative sensors in the side images of the (i + 1)-th to N-th integrated bridges, and calculate the mean of the operation result to obtain the mean displacement smoothness; Calculate the difference between the displacement smoothness of the alternative sensors in the side image of the i-th integrated bridge and the mean displacement smoothness to obtain the displacement smoothness difference of the alternative sensors in the side image of the i-th integrated bridge; Calculate the ratio of the displacement smoothness difference of the alternative sensors in the side image of the i-th integrated bridge to the displacement smoothness of the alternative sensors in the side image of the i-th integrated bridge to obtain the displacement smoothness deviation value of the side image of the i-th integrated bridge.

7. The integrated bridge displacement measurement method according to claim 1, characterized in that, When the deviation degree of the side image of the i-th integrated bridge is less than the preset deviation threshold, determine the longitudinal displacement of the integrated bridge according to the side image of the i-th integrated bridge, including: When the deviation degree of the side image of the i-th integrated bridge is less than the preset deviation threshold, determine the alternative sensors with displacement in the side image of the i-th integrated bridge as target sensors; Determine the longitudinal displacement of the integrated bridge according to the side image of the i-th integrated bridge and the side image of the integrated bridge corresponding to when the target sensors do not have displacement.

8. The integrated bridge displacement measurement method according to claim 7, wherein Determine the longitudinal displacement of the integrated bridge according to the side image of the i-th integrated bridge and the side image of the integrated bridge corresponding to when the target sensors do not have displacement, including: Determine the center points of the bridge areas in the side image of the i-th integrated bridge and the side image of the integrated bridge corresponding to when the target sensors do not have displacement respectively, and calculate the distance between the determined center points of the bridge areas to obtain the longitudinal displacement of the integrated bridge.

9. The integrated bridge displacement measurement method according to claim 1, characterized in that The method further includes: When the deviation degree of the side image of the i-th integrated bridge is not less than the preset deviation threshold, do not calculate the longitudinal displacement of the integrated bridge.

10. An integrated bridge displacement measuring device, characterized in that, The device includes: An acquisition module, configured to acquire N side images of an integrated bridge; wherein, the side images of the integrated bridge include sensors arranged in an array on the side of the bridge. A screening module, configured to determine alternative sensors with displacements in the N side images of the integrated bridge according to the positional relationships of the sensors in two adjacent side images of the integrated bridge. A calculation module, configured to calculate the displacement smoothness of the alternative sensors in the N side images of the integrated bridge according to the positional distribution of the alternative sensors in the N side images of the integrated bridge. A first response module, configured to determine the displacement smoothness deviation value of the i-th side image of the integrated bridge according to the difference between the displacement smoothness of the alternative sensors in the i-th side image of the integrated bridge and the displacement smoothness of the alternative sensors in the (i + 1)-th to N-th side images of the integrated bridge among the N side images of the integrated bridge. A measurement module, configured to determine the longitudinal displacement of the integrated bridge according to the i-th side image of the integrated bridge when the deviation degree of the i-th side image of the integrated bridge is less than a preset deviation threshold; wherein, i is a positive integer and N is a positive integer greater than 1.

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