Three-dimensional measurement method and device for deformation response of material in high dynamic scene

Abstract

The invention provides a three-dimensional measurement method and device for material deformation response in a high dynamic scene, and relates to the technical field of detection based on optics, and the method comprises the steps: obtaining a static contour of a to-be-measured material and a plurality of dynamic contours of the to-be-measured material at different loading moments through a material profile deformation measurement unit erected outside a load influence area; calculating a difference value between the dynamic contour and the static contour at each loading moment, taking the difference value as a material response deformation quantity at the corresponding moment, and integrating the material response deformation quantities at each loading moment to obtain a material response deformation contour set; and according to the material response deformation contour set and the attention moment determined by the load type, determining material response three-dimensional deformation information. According to the invention, the whole-process three-dimensional deformation information of the to-be-detected material under the influence of the load is determined through the material profile deformation measurement unit erected outside the load influence area, and a new normal form is provided for non-contact detection.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of optical detection technology, and in particular to a material deformation response three-dimensional measurement method and device in a high dynamic scene. BACKGROUND

[0002] Material deformation measurement is an important means to study the mechanical properties, structural stability and service state of materials. Common methods can be divided into contact, non-contact and non-destructive testing technologies according to measurement principles, precision requirements and application scenarios.

[0003] Contact measurement methods directly contact the measuring tool with the material surface to obtain the deformation, which is suitable for scenarios with moderate precision requirements and surface conditions allowing contact. Typical methods include micrometer / percentage table measurement method, extensometer measurement method, and strain gauge measurement method. The micrometer / percentage table measurement method is characterized by simple operation and low cost, but the measurement range is limited (usually 0-50mm), and the contact force may affect the deformation results of soft materials. The extensometer measurement method is characterized by fast response speed and continuous recording of deformation-load curves, but the installation of the clamp may cause local stress on the material, affecting the measurement accuracy of brittle materials, and it cannot measure the deformation of large-width objects. The strain gauge measurement method is characterized by small size and distributed arrangement, suitable for multi-point measurement of complex structures, but the sticking process affects the accuracy, and it is easily disturbed by temperature and humidity (temperature compensation is required), and it cannot measure the deformation of large-width objects.

[0004] Non-contact optical measurement methods are based on the reflection, interference or imaging principle of light, and do not require contact with the material surface, which is suitable for high-precision, dynamic or soft / sensitive material deformation measurement. Typical methods include laser displacement sensor method, digital image correlation method, and interference method (such as laser interferometer, holographic interference method). The laser displacement sensor method has a large measurement range (millimeters to meters) and fast response (kHz level sampling rate), but it is easily affected by surface reflectivity (rough surfaces need to be coated with a reflective coating); the digital image correlation method can be suitable for complex shapes or dynamic processes (such as deformation under impact load), but it relies on high-quality speckle patterns and sufficient lighting, and the measurement accuracy is relatively low; the interference method has extremely high precision, but it is sensitive to environmental vibration and temperature fluctuations, and needs to be operated on a vibration isolation platform, with a small measurement range (usually less than 100mm).

[0005] Therefore, how to balance the measurement requirements of high dynamic, large width and high precision scenarios is still a technical problem that needs to be solved for non-contact optical measurement methods. SUMMARY

[0006] The application provides a material deformation response three-dimensional measurement method and device in a high dynamic scene, which solves the defect that the measurement demand of a high dynamic scene with high precision and large width cannot be considered in the prior art.

[0007] The application provides a material deformation response three-dimensional measurement method in a high dynamic scene, which comprises the following steps: A static profile of the material to be measured and a plurality of dynamic profiles of the material to be measured at different loading time points are obtained by a material profile deformation measurement unit erected outside a load influence area, wherein the static profile represents the profile of the material to be measured before loading, and the material profile deformation measurement unit is obtained by a plurality of material profile deformation measurement sensors arranged according to a preset position under synchronous control; The difference between the dynamic profile at each loading time point and the static profile is calculated, and the difference is taken as a material response deformation variable at the corresponding time point, and the material response deformation variable at each loading time point is integrated to obtain a material response deformation profile set; According to the material response deformation profile set and a time point of interest determined by a load type, material response three-dimensional deformation information is determined.

[0008] According to the material deformation response three-dimensional measurement method in a high dynamic scene, the material profile deformation measurement sensor comprises a line laser, a high-frequency three-dimensional camera and an inclination sensor, and the step of obtaining the static profile of the material to be measured and the plurality of dynamic profiles of the material to be measured at different loading time points by the material profile deformation measurement unit specifically comprises the following steps: A plurality of groups of static elevation data and dynamic elevation data of the material to be measured at different time points are obtained by the plurality of material profile deformation measurement sensors, and each group of static elevation data or dynamic elevation data describes the static profile or dynamic profile of the material to be measured at the corresponding time point; For any group of static elevation data or dynamic elevation data obtained at any time point, matched inclination data is obtained by the inclination sensor in the corresponding material profile deformation measurement sensor; The group of static elevation data or dynamic elevation data matched with the inclination data is corrected by using the inclination data, and the static profile or the dynamic profile at the corresponding time point is determined according to the corrected static elevation data or dynamic elevation data.

[0009] According to the material deformation response three-dimensional measurement method in a high dynamic scene, the step of determining the static profile according to the corrected static elevation data specifically comprises the following steps: Multiple sets of corrected static elevation data are acquired. The multiple sets of corrected static elevation data correspond to different times. Each set of corrected static elevation data is composed of the corrected static elevation data of multiple measuring lines corresponding to the multiple material profile deformation measurement sensors. Each measuring line corresponds to multiple measurement points. For each measurement point, calculate the mean of its corrected static elevation data at all different times; The static profile is determined based on the mean value of all measurement points.

[0010] According to the present invention, a three-dimensional measurement method for material deformation response in a high dynamic scene is provided, wherein the preset position ensures that there are no intersections between the laser lines projected by the plurality of material profile deformation measurement sensors.

[0011] According to the present invention, a three-dimensional measurement method for material deformation response in a high-dynamic scene is provided. The step of determining the three-dimensional deformation information of the material response based on the set of material response deformation profiles and the time of interest determined by the load type specifically includes: When the load type is a high-speed moving load, the time of interest is determined to be the time when the high-speed moving load reaches the position of the laser line corresponding to the first material profile deformation measurement sensor. Determine the material response deformation corresponding to the moment of interest from the set of material response deformation profiles; The three-dimensional deformation information of the material response under high-speed moving load is determined based on the material response deformation corresponding to the preset position and the time of interest.

[0012] According to the present invention, a three-dimensional measurement method for material deformation response in a high-dynamic scene is provided. The step of determining the three-dimensional deformation information of the material response based on the set of material response deformation profiles and the time of interest determined by the load type specifically includes: When the load type is a high-speed impact load, the time of interest is determined to be a preset time after the high-speed impact load reaches the material under test; Determine the material response deformation corresponding to the moment of interest from the set of material response deformation profiles; The three-dimensional deformation information of the material response under high-speed impact load is determined based on the material response deformation corresponding to the preset position and the time of interest.

[0013] The method for three-dimensional measurement of material deformation response in a high dynamic scene provided by the present invention further includes: The data in the set of material response deformation profiles are sorted in chronological order to obtain the full-cycle dynamic deformation response data of the material structure under the corresponding load type.

[0014] The present invention also provides a three-dimensional measurement device for material deformation response in high dynamic scenes, comprising: The acquisition module is used to acquire the static profile of the material under test and multiple dynamic profiles of the material under test at different loading times through a material profile deformation measurement unit set up outside the load influence zone. The static profile represents the profile of the material under test before loading. The material profile deformation measurement unit is obtained by multiple material profile deformation measurement sensors that are synchronously controlled and arranged according to preset positions. The calculation module is used to calculate the difference between the dynamic profile and the static profile at each loading moment, and use the difference as the material response deformation at the corresponding moment. The material response deformation at each loading moment is integrated to obtain a set of material response deformation profiles. The output module is used to determine the three-dimensional deformation information of the material response based on the set of material response deformation profiles and the time of interest determined by the load type.

[0015] The present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the three-dimensional measurement method for material deformation response in high dynamic scenarios as described above.

[0016] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the three-dimensional measurement method for material deformation response in high dynamic scenarios as described above.

[0017] The present invention also provides a computer program product, including a computer program that, when executed by a processor, implements the three-dimensional measurement method for material deformation response in high dynamic scenarios as described above.

[0018] This invention provides a method and apparatus for three-dimensional measurement of material deformation response in highly dynamic scenarios. By setting up a material profile deformation measurement unit outside the load influence zone, the static and dynamic profiles of the material under test are obtained at the same location. The three-dimensional deformation information of the material under test under load is determined based on the difference between the static and dynamic profiles. The difference at the moment of interest is then obtained as the three-dimensional deformation information of the material response to the load. This provides a new paradigm for non-contact detection and improves the measurement accuracy of meter-wide material deformation in highly dynamic scenarios to 0.01 mm. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0020] Figure 1 This is a flowchart illustrating the three-dimensional measurement method for material deformation response in highly dynamic scenarios provided by the present invention. Figure 2 This is a schematic diagram of the structure of the three-dimensional measurement device for material deformation response in high dynamic scenarios provided by the present invention; Figure 3 This is a schematic diagram of the structure of the electronic device provided by the present invention. Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0022] The following is combined with Figure 1 This invention introduces a three-dimensional measurement method for material deformation response in high dynamic scenarios, such as... Figure 1 As shown, it includes: Step 101: Obtain the static profile of the material under test and multiple dynamic profiles of the material under test at different loading times by using a material profile deformation measurement unit set up outside the load influence zone. The static profile represents the profile of the material under test before loading. The material profile deformation measurement unit is obtained by multiple material profile deformation measurement sensors that are synchronously controlled and arranged according to preset positions. Multiple material profile deformation measurement sensors, controlled synchronously, are arranged at preset positions to form a material profile deformation measurement unit. Each material profile deformation measurement sensor includes at least a line laser and a high-frequency 3D camera, with the relative positions of the line laser and the high-frequency 3D camera fixed.

[0023] Optionally, the sampling frequency of the high-frequency 3D camera is not less than 2000Hz / s.

[0024] Optionally, the length of the laser line projected by the line laser is not less than 1 meter.

[0025] Optionally, the measurement swath of the high-frequency 3D camera is not less than one meter.

[0026] Optionally, the elevation measurement range of the high-frequency 3D camera is not less than 10 mm.

[0027] In the case of a material profile deformation measurement sensor, a line laser projects a laser line onto the cross-section to be measured. A high-frequency 3D camera then captures the laser line to identify the point cloud at the laser line's location, obtaining the image-side elevation information of the laser line's position. Then, using a pre-calibrated coordinate transformation matrix between the image-side coordinates of the high-frequency 3D camera and the object-side coordinates represented by the real-world coordinate system, the elevation information of the laser line can be mapped from the image-side coordinate system to the real-world coordinate system, thereby obtaining the object-side elevation coordinates of the cross-section corresponding to the laser line, which describes the contour of the corresponding cross-section.

[0028] For a material profile deformation measurement unit composed of multiple material profile deformation measurement sensors arranged in preset positions, the lasers projected by the line lasers of the multiple material profile deformation measurement sensors cover the target measurement area of ​​the material to be measured, and the high-frequency three-dimensional cameras of the multiple material profile deformation measurement sensors synchronously acquire the cross-sectional elevation coordinates corresponding to each laser line, thereby characterizing the contour of the target measurement area at that moment through multiple cross-sectional contours.

[0029] Optionally, the number of preset positions and material profile deformation measurement units can be determined based on the size, shape, and location of the target measurement area.

[0030] Optionally, the preset position can allow the laser lines projected by multiple material profile deformation measurement sensors to cover the target measurement area in a parallel / non-parallel manner.

[0031] As a preferred implementation, a preset position is used to ensure that there are no intersections between the laser lines projected by multiple material profile deformation measurement sensors. That is, only the laser line projected by its respective sensor exists in the measurement area of ​​the high-frequency three-dimensional camera corresponding to the laser line, so as to avoid affecting the identification of the cross-sectional contour as much as possible.

[0032] For example, when the material profile deformation measurement unit is used to detect road deflection basins, multiple material profile deformation measurement sensors are arranged at preset intervals along the road travel direction on one side of the road, and the laser lines emitted by them are all parallel to the width direction of the road, thereby forming a rectangular target measurement area.

[0033] Based on the above, the load influence zone is determined according to the properties of the material to be tested and / or the magnitude of the load to be applied. The material profile deformation measurement unit is installed outside the load influence zone. During installation, the positions of multiple material profile deformation measurement sensors are adjusted, and the laser lines projected by the multiple material profile deformation measurement sensors are made to be distributed as evenly as possible in the target measurement area. This allows multiple material profile deformation measurement units to be controlled to simultaneously capture images before the material to be tested is loaded, thereby obtaining the static profile of the material to be tested.

[0034] Optionally, the load applied to the material under test may include one or more of high-speed moving loads and high-speed impact loads.

[0035] In this embodiment, a high-frequency 3D camera is used to sample the material under test from the arrival to departure of a high-speed moving load / high-speed impact load at a sampling frequency of not less than 2000Hz / s, so as to obtain the complete deformation process of the cross section of the material under test in a high dynamic scene.

[0036] Specifically, during the process of applying load to the material under test, all line lasers of the material profile deformation measurement unit project laser lines towards the material under test, and all high-frequency 3D cameras continuously and synchronously acquire data at preset time intervals during the loading process of the material under test, obtaining multiple dynamic profiles of the material under test during the loading process. These multiple dynamic profiles describe the morphological changes of the target measurement area of ​​the material under test from the arrival of the load to its departure. The preset time interval is determined based on the sampling frequency of the high-frequency 3D cameras.

[0037] Step 102: Calculate the difference between the dynamic profile and the static profile at each loading moment, and use the difference as the material response deformation at the corresponding moment. Integrate the material response deformation at each loading moment to obtain a set of material response deformation profiles. It is understandable that the static profile represents the initial state of the material under test before loading, and each dynamic profile represents the loading state of the material under test at the corresponding loading moment. The difference between any dynamic profile and the static profile is the material response deformation of the material under test to the applied load at the corresponding loading moment.

[0038] By integrating the material response deformation at all loading moments, a set of material response deformation profiles is obtained to describe the three-dimensional deformation of the material under test during the complete loading process.

[0039] Step 103: Determine the three-dimensional deformation information of the material response based on the set of material response deformation profiles and the time of interest determined by the load type.

[0040] The critical moment can be determined in advance based on the type of load. For example, when the load is a high-speed dynamic load, the moment when the load moves to the first laser line in the test area can be taken as the critical moment, or the moment when the load moves to the laser line located in the middle of the test area can be taken as the critical moment. When the load is a high-speed impact load, the critical moment can be determined based on the research and development needs of the material being tested.

[0041] Find the material response deformation corresponding to the moment of interest in the set of material response deformation profiles, and use it as the three-dimensional deformation information of the material response.

[0042] This invention uses a material profile deformation measurement unit set up outside the load influence zone to obtain the static and dynamic profiles of the material under test at the same location. Based on the difference between the static and dynamic profiles, the three-dimensional deformation information of the material under test under load is determined. The difference at the moment of interest is then obtained as the three-dimensional deformation information of the material response to the load. This provides a new paradigm for non-contact detection and improves the measurement accuracy of meter-wide material deformation in high dynamic scenarios to 0.01 millimeters.

[0043] In the three-dimensional measurement method for material deformation response under high dynamic scenes of the present invention, the material profile deformation measurement sensor includes a line laser, a high-frequency three-dimensional camera, and a tilt sensor. The step of acquiring the static profile of the material under test and multiple dynamic profiles of the material under test at different loading times through the material profile deformation measurement unit specifically includes: Multiple sets of static and dynamic elevation data of the material under test at different times are obtained by the multiple material profile deformation measurement sensors. Each set of static or dynamic elevation data describes the static or dynamic profile of the material under test at the corresponding time. Understandably, although the mapping relationship between the image-space coordinate system and the object-space coordinate system can be determined by calibration before use, during calibration, the bracket used to install the material profile deformation measurement unit is naturally placed horizontally so that the angle between each material profile deformation measurement sensor in the measurement unit and the horizontal plane is at the ideal design angle, and the coordinate transfer matrix between the image-space coordinate system and the object-space coordinate system of each material profile deformation measurement sensor under this state is obtained.

[0044] However, in actual use, such as when testing road materials, the unevenness of the road surface makes it difficult for the installation angle of the material profile deformation measurement unit to be at the ideal design angle. If the calibrated coordinate transfer matrix is ​​used directly, deviations will occur during coordinate mapping.

[0045] Therefore, in this embodiment, the material profile deformation measurement sensor also includes a tilt sensor, and the positions of the line laser, high-frequency three-dimensional camera and tilt sensor in the material profile deformation measurement sensor are relatively fixed.

[0046] The tilt angle data measured by the tilt sensor represents the angle between the tilt sensor and the horizontal plane. When calibrating the installation angle relationship between the tilt sensor and the high-frequency 3D camera, the original tilt angle data output by the tilt sensor is determined. After the material profile deformation measurement unit is installed outside the load influence zone, the installation tilt angle data of each tilt sensor is determined. Then, the actual installation angle of the corresponding high-frequency 3D camera relative to the horizontal plane can be determined based on the difference between the original tilt angle data and the installation tilt angle data of each tilt sensor. This corrects the original image-to-object elevation data measured by each high-frequency 3D camera to obtain more accurate object data.

[0047] Based on this, multiple material profile deformation measurement sensors in the material profile deformation measurement unit acquire several sets of static elevation data of the material under test before it is loaded, and acquire multiple sets of dynamic elevation data of the material under test during the complete loading process.

[0048] Each set of static elevation data / dynamic elevation data consists of static elevation data / dynamic elevation data from multiple sensors, describing the static / dynamic profile of the material under test at the corresponding time.

[0049] For any set of static or dynamic elevation data acquired at any given time, the tilt angle data that matches it is obtained through the tilt sensor in the corresponding material profile deformation measurement sensor. Specifically, when acquiring static / dynamic elevation data, the material profile deformation measurement unit is first activated. Multiple material profile deformation measurement sensors in the measurement unit synchronously collect data once at preset intervals. After the data collection is completed, the material profile deformation measurement unit is turned off, resulting in multiple sets of static / dynamic elevation data at different times during the data collection period.

[0050] Meanwhile, the tilt sensor in each material profile deformation measurement sensor also continuously collects multiple sets of tilt angle data during the acquisition period.

[0051] If the acquisition frequency of the tilt sensor is higher than that of the high-frequency 3D camera, the tilt data is downsampled; otherwise, the tilt data is interpolated so that the number of tilt data sets acquired in a single acquisition period is the same as the number of static / dynamic elevation data sets. Based on this, after arranging all the acquired data in chronological order, each set of static / dynamic elevation data has a unique corresponding set of tilt data.

[0052] The tilt angle data is used to correct a set of matching static or dynamic elevation data, and the static profile or the corresponding dynamic profile is determined based on the corrected static or dynamic elevation data.

[0053] A set of tilt angle data is used to correct a set of matching static / dynamic elevation data. This corrected static or dynamic elevation data overcomes the error between the actual installation angle and the calibration angle of the material profile deformation measurement sensor. As a result, a more accurate static profile or dynamic profile at the corresponding moment is determined based on the corrected static or dynamic elevation data.

[0054] In the three-dimensional measurement method for material deformation response in a high-dynamic scene of the present invention, the step of determining the static contour based on the corrected static elevation data specifically includes: Multiple sets of corrected static elevation data are acquired. The multiple sets of corrected static elevation data correspond to different times. Each set of corrected static elevation data is composed of the corrected static elevation data of multiple measuring lines corresponding to the multiple material profile deformation measurement sensors. Each measuring line corresponds to multiple measurement points. Although a set of static elevation data describing the static profile of the material can be obtained by collecting data once before the material is loaded, in actual measurement, considering the influence of interference factors such as the optical properties of the material surface (such as the reflection of asphalt road), the dynamic fluctuation of ambient light and shadow, or the local occlusion of the measurement field of view on the high-frequency 3D camera, it is usually necessary to acquire multiple sets of static elevation data during a collection period and determine a static profile based on the multiple sets of static elevation data.

[0055] Specifically, multiple sets of tilt angle data are used to correct multiple sets of static elevation data to obtain multiple sets of corrected static elevation data. It can be understood that each set of corrected static elevation data corresponds to a different moment in the acquisition period, and each set of corrected static elevation data is composed of the corrected static elevation data of multiple measuring lines corresponding to multiple material profile deformation measurement sensors of the measurement unit.

[0056] Among them, the measuring line is a laser line projected onto the surface of the material to be measured by the material profile deformation measurement sensor, and each measuring line consists of multiple measurement points.

[0057] For example, a measurement unit includes M material profile deformation measurement sensors, and the laser line projected by each material profile deformation measurement sensor consists of N measurement points. Then, a set of corrected static elevation data consists of corrected static elevation data of M×N measurement points.

[0058] For each measurement point, calculate the mean of its corrected static elevation data at all different times; The static profile is determined based on the mean value of all measurement points.

[0059] Furthermore, taking the acquisition of T sets of static elevation data within a single collection period as an example, the corresponding T sets of corrected static elevation data are obtained. For each measurement point, the mean value of the T sets of corrected static elevation data is calculated to obtain the mean value of M×N measurement points.

[0060] The average of the M×N measurement points obtained by integration is used as a set of static elevation data to characterize the static profile.

[0061] In the three-dimensional measurement method for material deformation response under high dynamic scenes of the present invention, the step of determining the three-dimensional deformation information of the material response based on the set of material response deformation profiles and the time of interest determined by the load type specifically includes: When the load type is a high-speed moving load, the time of interest is determined to be the time when the high-speed moving load reaches the position of the laser line corresponding to the first material profile deformation measurement sensor. Determine the material response deformation corresponding to the moment of interest from the set of material response deformation profiles; For detecting the three-dimensional deformation response of materials under high-speed moving loads, if the moment of interest is the time when the load moves to the middle position of the measurement unit corresponding to the sensor, more measurement lines need to be arranged under the moving load mode to obtain response data for the entire loading cycle, which results in high measurement costs.

[0062] Therefore, in this embodiment, when the load is a high-speed moving load, the moment when the high-speed moving load reaches the laser line position corresponding to the first material profile deformation measurement sensor of the measurement unit is taken as the moment of interest, so as to reduce the number of material profile deformation measurement sensors required for measurement.

[0063] It is understandable that the first material profile deformation measurement sensor refers to the material profile deformation measurement sensor that the moving load passes through first.

[0064] Furthermore, the material response deformation at the time of interest is found within the defined set of material response deformation profiles.

[0065] Taking a measurement unit consisting of M material profile deformation measurement sensors, and each material profile deformation measurement sensor projecting a laser line consisting of N measurement points as an example, the material response deformation at the time of interest includes M calculated differences, each of which consists of the elevation difference calculated from the N measurement points.

[0066] The three-dimensional deformation information of the material response under high-speed moving load is determined based on the material response deformation corresponding to the preset position and the time of interest.

[0067] The preset position characterizes the distribution position of the laser line corresponding to each material profile deformation measurement sensor on the material under test. Based on each laser line and the corresponding difference, the three-dimensional deformation information of the material under test under the high-speed moving load can be obtained.

[0068] In one feasible implementation, a three-dimensional coordinate system for material response is constructed based on a preset position, and M difference data are mapped to the three-dimensional coordinate system for material response to obtain the three-dimensional deformation information of the material under test under the high-speed moving load.

[0069] In the three-dimensional measurement method for material deformation response under high dynamic scenes of the present invention, the step of determining the three-dimensional deformation information of the material response based on the set of material response deformation profiles and the time of interest determined by the load type specifically includes: When the load type is a high-speed impact load, the time of interest is determined to be a preset time after the high-speed impact load reaches the material under test; When the load type is high-speed impact load, after the high-speed impact load is applied to the material under test, the deformation response of the material under test exhibits transient and high-speed evolution characteristics. Therefore, it is necessary to determine a time that can effectively characterize the typical deformation characteristics of the material under test based on theoretical analysis or previous experiments, i.e., the preset time, and to determine this preset time as the time of interest.

[0070] Determine the material response deformation corresponding to the moment of interest from the set of material response deformation profiles; In one feasible implementation, the data in the material response deformation profile set are sorted in chronological order, and the acquisition time of the dynamic profile corresponding to each difference is determined at storage and stored as a timestamp of the difference.

[0071] The difference between the timestamp with the shortest interval to the time of interest is used as the material response deformation variable corresponding to the time of interest.

[0072] The three-dimensional deformation information of the material response under high-speed impact load is determined based on the material response deformation corresponding to the preset position and the time of interest.

[0073] The method for determining the three-dimensional deformation information of the material response under high-speed impact load based on the moment of interest is the same as the method for determining the three-dimensional deformation information of the material response under high-speed moving load, so it will not be described again.

[0074] The present invention provides a three-dimensional measurement method for material deformation response in a high-dynamic scene, which further includes: The data in the set of material response deformation profiles are sorted in chronological order to obtain the full-cycle dynamic deformation response data of the material structure under the corresponding load type.

[0075] The data in the material response deformation profile set are sorted according to the time sequence of their acquisition time, so that the data in the material response deformation profile set is continuous and orderly in the time dimension. This fully presents the three-dimensional deformation evolution law of the material under test from before the load is applied to the moment of interest when the load is applied, and then to the end of the load application process. This yields the full-cycle dynamic deformation response data of the material structure under the corresponding load type.

[0076] The following describes a three-dimensional measurement device for material deformation response in a high dynamic scene provided by the present invention. The three-dimensional measurement device for material deformation response in a high dynamic scene described below and the three-dimensional measurement method for material deformation response in a high dynamic scene described above can be referred to in correspondence with each other.

[0077] like Figure 2 As shown, a three-dimensional measurement device for material deformation response in a high dynamic scene includes an acquisition module 201, a calculation module 202, and an output module 203; The acquisition module 201 is used to acquire the static profile of the material under test and multiple dynamic profiles of the material under test at different loading times through a material profile deformation measurement unit set up outside the load influence zone. The static profile represents the profile of the material under test before loading. The material profile deformation measurement unit is obtained by multiple material profile deformation measurement sensors that are synchronously controlled and arranged according to preset positions. Multiple material profile deformation measurement sensors, controlled synchronously, are arranged at preset positions to form a material profile deformation measurement unit. Each material profile deformation measurement sensor includes at least a line laser and a high-frequency 3D camera, with the relative positions of the line laser and the high-frequency 3D camera fixed.

[0078] Optionally, the sampling frequency of the high-frequency 3D camera is not less than 2000Hz / s.

[0079] Optionally, the length of the laser line projected by the line laser is not less than 1 meter.

[0080] Optionally, the measurement swath of the high-frequency 3D camera is not less than one meter.

[0081] Optionally, the elevation measurement range of the high-frequency 3D camera is not less than 10 mm.

[0082] In the case of a material profile deformation measurement sensor, a line laser projects a laser line onto the cross-section to be measured. A high-frequency 3D camera then captures the laser line to identify the point cloud at the laser line's location, obtaining the image-side elevation information of the laser line's position. Then, using a pre-calibrated coordinate transformation matrix between the image-side coordinates of the high-frequency 3D camera and the object-side coordinates represented by the real-world coordinate system, the elevation information of the laser line can be mapped from the image-side coordinate system to the real-world coordinate system, thereby obtaining the object-side elevation coordinates of the cross-section corresponding to the laser line, which describes the contour of the corresponding cross-section.

[0083] For a material profile deformation measurement unit composed of multiple material profile deformation measurement sensors arranged in preset positions, the lasers projected by the line lasers of the multiple material profile deformation measurement sensors cover the target measurement area of ​​the material to be measured, and the high-frequency three-dimensional cameras of the multiple material profile deformation measurement sensors synchronously acquire the cross-sectional elevation coordinates corresponding to each laser line, thereby characterizing the contour of the target measurement area at that moment through multiple cross-sectional contours.

[0084] Optionally, the number of preset positions and material profile deformation measurement units can be determined based on the size, shape, and location of the target measurement area.

[0085] Optionally, the preset position can allow the laser lines projected by multiple material profile deformation measurement sensors to cover the target measurement area in a parallel / non-parallel manner.

[0086] As a preferred implementation, a preset position is used to ensure that there are no intersections between the laser lines projected by multiple material profile deformation measurement sensors. That is, only the laser line projected by its respective sensor exists in the measurement area of ​​the high-frequency three-dimensional camera corresponding to the laser line, so as to avoid affecting the identification of the cross-sectional contour as much as possible.

[0087] For example, when the material profile deformation measurement unit is used to detect road deflection basins, multiple material profile deformation measurement sensors are arranged at preset intervals along the road travel direction on one side of the road, and the laser lines emitted by them are all parallel to the width direction of the road, thereby forming a rectangular target measurement area.

[0088] Based on the above, the load influence zone is determined according to the properties of the material to be tested and / or the magnitude of the load to be applied. The material profile deformation measurement unit is installed outside the load influence zone. During installation, the positions of multiple material profile deformation measurement sensors are adjusted, and the laser lines projected by the multiple material profile deformation measurement sensors are made to be distributed as evenly as possible in the target measurement area. This allows multiple material profile deformation measurement units to be controlled to simultaneously capture images before the material to be tested is loaded, thereby obtaining the static profile of the material to be tested.

[0089] Optionally, the load applied to the material under test may include one or more of high-speed moving loads and high-speed impact loads.

[0090] In this embodiment, a high-frequency 3D camera is used to sample the material under test from the arrival to departure of a high-speed moving load / high-speed impact load at a sampling frequency of not less than 2000Hz / s, so as to obtain the complete deformation process of the cross section of the material under test in a high dynamic scene.

[0091] Specifically, during the process of applying load to the material under test, all line lasers of the material profile deformation measurement unit project laser lines towards the material under test, and all high-frequency 3D cameras continuously and synchronously acquire data at preset time intervals during the loading process of the material under test, obtaining multiple dynamic profiles of the material under test during the loading process. These multiple dynamic profiles describe the morphological changes of the target measurement area of ​​the material under test from the arrival of the load to its departure. The preset time interval is determined based on the sampling frequency of the high-frequency 3D cameras.

[0092] The calculation module 202 is used to calculate the difference between the dynamic profile and the static profile at each loading time, and use the difference as the material response deformation at the corresponding time, and integrate the material response deformation at each loading time to obtain a set of material response deformation profiles. It is understandable that the static profile represents the initial state of the material under test before loading, and each dynamic profile represents the loading state of the material under test at the corresponding loading moment. The difference between any dynamic profile and the static profile is the material response deformation of the material under test to the applied load at the corresponding loading moment.

[0093] By integrating the material response deformation at all loading moments, a set of material response deformation profiles is obtained to describe the three-dimensional deformation of the material under test during the complete loading process.

[0094] The output module 203 is used to determine the three-dimensional deformation information of the material response based on the set of material response deformation profiles and the time of interest determined by the load type.

[0095] The critical moment can be determined in advance based on the type of load. For example, when the load is a high-speed dynamic load, the moment when the load moves to the first laser line in the test area can be taken as the critical moment, or the moment when the load moves to the laser line located in the middle of the test area can be taken as the critical moment. When the load is a high-speed impact load, the critical moment can be determined based on the research and development needs of the material being tested.

[0096] Find the material response deformation corresponding to the moment of interest in the set of material response deformation profiles, and use it as the three-dimensional deformation information of the material response.

[0097] This invention uses a material profile deformation measurement unit set up outside the load influence zone to obtain the static and dynamic profiles of the material under test at the same location. Based on the difference between the static and dynamic profiles, the three-dimensional deformation information of the material under test under load is determined. The difference at the moment of interest is then obtained as the three-dimensional deformation information of the material response to the load. This provides a new paradigm for non-contact detection and improves the measurement accuracy of meter-wide material deformation in high dynamic scenarios to 0.01 millimeters.

[0098] Figure 3 An example is a schematic diagram of the physical structure of an electronic device, such as... Figure 3 As shown, the electronic device may include: a processor 310, a communication interface 320, a memory 330, and a communication bus 340, wherein the processor 310, the communication interface 320, and the memory 330 communicate with each other through the communication bus 340. The processor 310 can call logic instructions in the memory 330 to execute a three-dimensional measurement method for material deformation response under high dynamic scenarios. The method includes: acquiring the static profile of the material under test and multiple dynamic profiles of the material under test at different loading times through a material profile deformation measurement unit erected outside the load influence zone, wherein the static profile represents the profile of the material under test before loading, and the material profile deformation measurement unit is obtained by multiple material profile deformation measurement sensors synchronously controlled and arranged at preset positions; calculating the difference between the dynamic profile and the static profile at each loading time, and using the difference as the material response deformation at the corresponding time, integrating the material response deformation at each loading time to obtain a set of material response deformation profiles; and determining the three-dimensional deformation information of the material response based on the set of material response deformation profiles and the time of interest determined by the load type.

[0099] Furthermore, the logical instructions in the aforementioned memory 330 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, essentially, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0100] On the other hand, the present invention also provides a computer program product, which includes a computer program that can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute a three-dimensional measurement method for material deformation response in a high-dynamic scenario provided by the above methods. The method includes: acquiring the static profile of the material under test and multiple dynamic profiles of the material under test at different loading times by using a material profile deformation measurement unit erected outside the load influence zone, wherein the static profile represents the profile of the material under test before loading, and the material profile deformation measurement unit is obtained by multiple material profile deformation measurement sensors synchronously controlled and arranged at preset positions; calculating the difference between the dynamic profile and the static profile at each loading time, and using the difference as the material response deformation at the corresponding time, integrating the material response deformation at each loading time to obtain a set of material response deformation profiles; and determining the three-dimensional deformation information of the material response based on the set of material response deformation profiles and the time of interest determined by the load type.

[0101] In another aspect, the present invention also provides a non-transitory computer-readable storage medium storing a computer program thereon. When executed by a processor, the computer program performs a three-dimensional measurement method for material deformation response in a high-dynamic scenario, as provided by the methods described above. The method includes: acquiring the static profile of the material under test and multiple dynamic profiles of the material under test at different loading times by using a material profile deformation measurement unit erected outside the load influence zone, wherein the static profile represents the profile of the material under test before loading, and the material profile deformation measurement unit is obtained by multiple material profile deformation measurement sensors arranged at preset positions under synchronous control; calculating the difference between the dynamic profile and the static profile at each loading time, and using the difference as the material response deformation at the corresponding time; integrating the material response deformation at each loading time to obtain a set of material response deformation profiles; and determining the three-dimensional deformation information of the material response based on the set of material response deformation profiles and the time of interest determined by the load type.

[0102] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0103] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0104] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A three-dimensional measurement method for material deformation response in high dynamic scenarios, characterized in that, include: The static profile of the material under test and multiple dynamic profiles of the material under test at different loading times are obtained by a material profile deformation measurement unit set up outside the load influence zone. The static profile represents the profile of the material under test before loading. The material profile deformation measurement unit is obtained by multiple material profile deformation measurement sensors arranged in a preset position under synchronous control. Calculate the difference between the dynamic profile and the static profile at each loading moment, and use the difference as the material response deformation at the corresponding moment. Integrate the material response deformation at each loading moment to obtain a set of material response deformation profiles. Based on the set of material response deformation profiles and the moment of interest determined by the load type, the three-dimensional deformation information of the material response is determined.

2. The three-dimensional measurement method for material deformation response in high dynamic scenarios according to claim 1, characterized in that, The material profile deformation measurement sensor includes a line laser, a high-frequency three-dimensional camera, and a tilt sensor. The step of acquiring the static profile of the material under test and multiple dynamic profiles of the material under test at different loading times through the material profile deformation measurement unit specifically includes: Multiple sets of static and dynamic elevation data of the material under test at different times are obtained by the multiple material profile deformation measurement sensors. Each set of static or dynamic elevation data describes the static or dynamic profile of the material under test at the corresponding time. For any set of static or dynamic elevation data acquired at any given time, the tilt angle data that matches it is obtained through the tilt sensor in the corresponding material profile deformation measurement sensor. The tilt angle data is used to correct a set of matching static or dynamic elevation data, and the static profile or the corresponding dynamic profile is determined based on the corrected static or dynamic elevation data.

3. The three-dimensional measurement method for material deformation response in high dynamic scenarios according to claim 2, characterized in that, The step of determining the static contour based on the corrected static elevation data specifically includes: Multiple sets of corrected static elevation data are acquired. The multiple sets of corrected static elevation data correspond to different times. Each set of corrected static elevation data is composed of the corrected static elevation data of multiple measuring lines corresponding to the multiple material profile deformation measurement sensors. Each measuring line corresponds to multiple measurement points. For each measurement point, calculate the mean of its corrected static elevation data at all different times; The static profile is determined based on the mean value of all measurement points.

4. The three-dimensional measurement method for material deformation response in high dynamic scenarios according to claim 1, characterized in that, The preset position ensures that there are no intersections between the laser lines projected by the multiple material profile deformation measurement sensors.

5. The three-dimensional measurement method for material deformation response in high dynamic scenarios according to any one of claims 1-4, characterized in that, The step of determining the three-dimensional deformation information of the material response based on the set of material response deformation profiles and the time of interest determined by the load type specifically includes: When the load type is a high-speed moving load, the time of interest is determined to be the time when the high-speed moving load reaches the position of the laser line corresponding to the first material profile deformation measurement sensor. Determine the material response deformation corresponding to the moment of interest from the set of material response deformation profiles; The three-dimensional deformation information of the material response under high-speed moving load is determined based on the material response deformation corresponding to the preset position and the time of interest.

6. The three-dimensional measurement method for material deformation response in high dynamic scenes according to any one of claims 1-4, characterized in that, The step of determining the three-dimensional deformation information of the material response based on the set of material response deformation profiles and the time of interest determined by the load type specifically includes: When the load type is a high-speed impact load, the time of interest is determined to be a preset time after the high-speed impact load reaches the material under test; Determine the material response deformation corresponding to the moment of interest from the set of material response deformation profiles; The three-dimensional deformation information of the material response under high-speed impact load is determined based on the material response deformation corresponding to the preset position and the time of interest.

7. The method for three-dimensional measurement of material deformation response in high dynamic scenes according to any one of claims 1-4, characterized in that, Also includes: The data in the set of material response deformation profiles are sorted in chronological order to obtain the full-cycle dynamic deformation response data of the material structure under the corresponding load type.

8. A three-dimensional measurement device for material deformation response in high dynamic scenarios, characterized in that, include: The acquisition module is used to acquire the static profile of the material under test and multiple dynamic profiles of the material under test at different loading times through a material profile deformation measurement unit set up outside the load influence zone. The static profile represents the profile of the material under test before loading. The material profile deformation measurement unit is obtained by multiple material profile deformation measurement sensors that are synchronously controlled and arranged according to preset positions. The calculation module is used to calculate the difference between the dynamic profile and the static profile at each loading moment, and use the difference as the material response deformation at the corresponding moment. The material response deformation at each loading moment is integrated to obtain a set of material response deformation profiles. The output module is used to determine the three-dimensional deformation information of the material response based on the set of material response deformation profiles and the time of interest determined by the load type.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the three-dimensional measurement method for material deformation response in high dynamic scenarios as described in any one of claims 1 to 7.

10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, it implements the three-dimensional measurement method for material deformation response in high dynamic scenarios as described in any one of claims 1 to 7.

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