CN108986070A - A kind of rock fracture way of extensive experimentation monitoring method based on high-speed video measurement - Google Patents
A kind of rock fracture way of extensive experimentation monitoring method based on high-speed video measurement Download PDFInfo
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Abstract
The present invention relates to a kind of rock fracture way of extensive experimentation monitoring methods based on high-speed video measurement, comprising the following steps: 1) sequential images and the storage of rupture process of the rock to be measured under uniaxial compression are obtained by two high speed cameras in two CCD camera measure system；2) in sequential images resolving, sequence corresponding image points coordinate in speckle region of interest is obtained by sub-pixel tracking and matching method, and obtain timing three dimensional point cloud of the rock surface to be measured under uniaxial compression by photogrammetric analytical algorithm；3) it is analyzed for the Time-space serial of sequence three-dimensional point cloud, obtains the parameters such as the three-dimensional deformation parameter, including displacement, speed, acceleration and strain field of rock fracture to be measured.Compared with prior art, the present invention has many advantages, such as feasible, effective, flexible, reliable.
Description
Technical field
The present invention relates to the contactless high-speed video measurement schemes of rock fracture way of extensive experimentation, more particularly, to a kind of base
In the rock fracture way of extensive experimentation monitoring method of high-speed video measurement.
Background technique
In engineering circles, a kind of material before coming into operation, material properties and safety coefficient generally require by stretching,
The testabilities experiment such as compression, collision is monitored.Rock crack extend measurement in terms of, conventional contact measuring instrument due to
The shortcomings such as range is limited, measurement point position is few, increase model quality, installation is time-consuming and laborious, gradually by non-contact measurement
Replaced method.In optical measurement research work, digital correlation algorithm has become the mainstream calculation method of Mechanics Calculation.It is many
Scholar has started the resolving that displacement field and strain field are carried out with Digital Speckle Correlation Method.But in most experiment, more
More is the change in displacement for measuring two-dimensional surface, and measurement error caused by wherein sensitized lithography and tested object plane are not parallel can be serious
Radiographic measurement is as a result, and this is almost uncontrollable.In addition, 3-dimensional digital the relevant technologies have also obtained grinding extensively in recent years
Study carefully, but many similar experiments are shot under the high speed camera of general camera or lower-performance, it can not be at large
The catastrophe of measured object is recorded, and then can not provide measurement point position complete space three-dimensional information change, affects experiment
Measurement effect.
Summary of the invention
It is an object of the present invention to overcome the above-mentioned drawbacks of the prior art and provide one kind to be based on high-speed video
The rock fracture way of extensive experimentation monitoring method of measurement.
The purpose of the present invention can be achieved through the following technical solutions:
A kind of rock fracture way of extensive experimentation monitoring method based on high-speed video measurement, comprising the following steps:
1) rupture of the rock to be measured under uniaxial compression is obtained by two high speed cameras in two CCD camera measure system
The sequential images of process and storage；
2) in sequential images resolving, the sequence in speckle region of interest is calculated by sub-pixel tracking and matching method
Corresponding image points coordinate, and timing three-dimensional point cloud of the rock surface to be measured under uniaxial compression is obtained by photogrammetric analytical algorithm
Data；
3) it is analyzed for the Time-space serial of sequence three-dimensional point cloud, obtains the three-dimensional deformation parameter of rock fracture to be measured, including
Displacement, speed, acceleration and strain field.
In the step 1), the high speed camera in the two CCD camera measure system is industrial camera, passes through synchronization
Controller keeps image collection synchronous.
Two high speed cameras are horizontal positioned, and are shot using convergent photography mode, reach increase image with this
It is overlapped the purpose of coverage rate.
In the step 1), speckle regions are sprayed on rock to be measured, specifically:
Rock surface to be measured be polishing to it is smooth, observation surface spraying white dumb light paint, and carry out it is air-dried, observation table
Face is random and equably sprays black matte paint or black ink, formation speckle, using entire speckle regions as speckle region of interest,
Using speckle as target point.
The step 2) specifically includes the following steps:
21) stereo calibration of high speed camera: the interior side of high speed camera is obtained simultaneously by the scaling method based on surface plate
Bit element and elements of exterior orientation；
22) speckle Yunnan snub-nosed monkey: choosing speckle region of interest in sequential images and target point is determined in region of interest；
23) homotopy mapping: the image that two high speed cameras are acquired simultaneously is related by normalization as matching object
Coefficient determines the rough point of whole Pixel-level, and the accurate point of sub-pixel is determined by Least squares matching method；
24) target following matches: the before and after frames image of the sequential images acquired using high speed camera is obtained as matching object
Timing two dimension picpointed coordinate of the target point in sequential images；
25) three-dimensional point cloud is rebuild: according to the picpointed coordinate of each pair of same place after matching and calibrated inner orientation member
Element and elements of exterior orientation pass through the timing three-dimensional point of target point of the same name in the forward intersection acquisition sequential images based on collinearity equation
Position coordinate.
In the step 23), Least squares matching method is up to objective function with normalizated correlation coefficient, considers left
Affine distortion model between right image, it is final to obtain essence using the grayscale information and location information progress adjustment processing in window
Really matching point.
Displacement data is obtained by difference to timing three-dimensional point position coordinate in the step 3), by displacement data when
Between it is upper carry out once differentiation and second differential, obtain speed data and acceleration information respectively.
Compared with prior art, the invention has the following advantages that
The present invention can obtain rock to be measured by combining digital speckle matching process with high-speed video measurement constantly
Three-dimensional configuration variation in tiny time interval, and then a set of complete non-contact 3-D distortion measurement scheme is proposed,
The quantitative study and analysis that can be extended for rock fracture provide a variety of deformation parameters.
Detailed description of the invention
Fig. 1 is Technology Roadmap of the invention.
Fig. 2 is target point sampling schematic diagram.
Fig. 3 is homonymy matching schematic diagram.
Fig. 4 is target point tracking and matching schematic diagram in sequential images.
Fig. 5 is high speed camera network deployment figure
Fig. 6 is normalizated correlation coefficient statistic histogram.
Fig. 7 is the three-dimensional reconstruction of rock surface, wherein figure (7a) is that the three-dimensional point cloud of initial time is distributed, and figure (7b) is
Three-dimensional point cloud distribution when 8.285s.
Fig. 8 is 3-D displacement field of the rock sample in 8.285s, wherein figure (8a) is X-direction displacement, and figure (8b) is
Y-direction displacement schemes (8c) for Z-direction displacement.
Fig. 9 is strain field of the rock sample in 8.285s, wherein figure (9a) is Exx strain, and figure (9b) is answered for Eyy
Become, schemes (9c) for Exy strain.
Specific embodiment
The present invention is described in detail with specific embodiment below in conjunction with the accompanying drawings.
Embodiment
This patent has worked out a set of detailed high-speed video measurement method for rock fracture way of extensive experimentation.In the present embodiment
In used two high speed cameras to carry out stereopsises, therefore the hardware device and measurement of correlation theory can be referred to as binocular vision
Feel measuring system.The building of the system needs the hardware such as high speed camera, isochronous controller, high-speed data acquisition card.Wherein, high speed
Camera is the important component part of the system, it belongs to one kind of industrial camera, has high stability, high frame frequency, high-transmission energy
The particular advantages such as power and high anti-jamming capacity, especially suitable for automatic optics inspection, three-dimensional measurement, semiconductor detection, machine view
The fields such as feel.In addition, the effect of isochronous controller is that the camera of translocation is made to keep synchronism.In subsequent Data processing, when
When resolving the three dimensional space coordinate of a certain target point of a certain moment, need to obtain the image of the same name of moment shooting.If not right
Two cameras synchronize control, and the three-dimensional data that can not just carry out the later period resolves, therefore synchronously control is vital.
The network struction of two CCD camera measure system is also required to be designed according to experimental situation.It is covered to increase image overlap
Lid rate, two high speed cameras should use convergent photography mode.In the front of rock sample block, two high speed cameras should water as far as possible
Safety is put, but relative attitude in the horizontal plane cannot be tilted too.This is because if lateral attitude is excessive, left and right two
The opposite perspective distortion of group image can be increased accordingly, this can reduce the sub-pix Image Matching precision in later period.Therefore real in experiment
Before applying, the position of two cameras and posture can be adjusted according to the field range of filmed image.
Technology path of the invention, as shown in Figure 1.
The present invention specifically includes the following steps:
1, object matching and tracking
1.1 Yunnan snub-nosed monkey
Before Image Matching, region of interest extraction need to be carried out and target point determines, wherein it is similar to choose process for target point
In sampling process, and the interval sampled can experimental demand and formulate.For example, first image that left camera is shot
(i.e. first frame image) first chooses region of interest, then by certain length interval (between sampling as image is referred to manually
Every) choose target point.Sampling interval, smaller then target point quantity was more, and schematic diagram is as shown in Figure 2.
1.2 homotopy mapping
This experiment needs sub-pix high-precision matching result, therefore this patent use is the most conventional by slightly to the matching of essence
Strategy.It slightly fits through and calculates normalizated correlation coefficient to determine the rough point of whole pixel matching, essence matching then passes through minimum two
Multiply matching process to determine the accurate point of sub-pix.Wherein Least squares matching method is up to target with normalizated correlation coefficient
And left and right deformation of image is considered as affine transformation, using the grayscale information and location information progress adjustment processing in window, thus
It can reach the matching precision of 1/10 or even 1/100 pixel.In order to accelerate matching speed, it is thus necessary to determine that local search area.Due to
The relative tilt posture of two cameras is smaller in this experiment, and the range of region of interest in the image of left and right is caused to be not much different.Such as Fig. 3 institute
Show, can first determine positional relationship of a certain target point of left image in left region of interest, then extrapolates the same place again right emerging
Thus rough range in interesting area determines Image Matching region of search.In addition, it has been determined that the point of each target point, because
The window size of this target image block and the window size of region of search can be configured according to the demand of experiment.
1.3 target followings matching
Target following matching is to obtain each target point sequential images coordinate, sub-pixel matching process and same place
It matches similar.The difference is that matching object is no longer left and right image, but the sequential images of each camera storage.Due to of the same name
Target image block has been provided in point matching process, therefore these image blocks also should be used as target shadow in target following matching
Picture, and the region of search of next frame can be determined by the target position of previous frame, tracking and matching schematic diagram such as Fig. 4.
By above-mentioned process, each target point can get sequential images coordinate, since two high speed cameras are to being clapped
Synchronous acquisition and storage has been carried out in the image taken the photograph, therefore the same place obtained on first frame image remains unchanged in time series
Keep relationship of the same name.After three-dimensional reconstruction, rock surface can form three dimensional point cloud under each time scale.
2, binocular vision 3 D is rebuild
2.1 stereo calibration
This patent has used the synchronous elements of interior orientation and elements of exterior orientation for obtaining camera of the scaling method based on surface plate,
Wherein elements of interior orientation will not only consider principal point (Cx,Cy) and image distance (f), and to consider the distortion parameter and pixel of camera lens
Actual size (Sx,Sy).The distortion parameter of camera lens mainly includes radial distortion (K1,K2,K3) and tangential distortion (P1,P2).This
Outside, stereo calibration will not only determine the elements of interior orientation of each camera, while determine also that the elements of exterior orientation of camera.Foreign side's bit
Element (α, β, γ, tx,ty,tz) then it is mainly reflected in the transformational relation between camera coordinates system and world coordinate system.Stereo calibration
It is that this tests a most key step, because the precision of its calibration orientation affects final experimental result.It therefore, can be in plane
It will be drawn on scaling board and take test point further to verify stated accuracy.
2.2 three-dimensional reconstruction
During the experiment, the high speed camera demarcated can not move, and otherwise need to re-scale.In 2.1 sections,
Stereo calibration has determined that the internal and external orientation of each camera, therefore in the sequential images of two cameras acquisition, every acquisition
The picpointed coordinate of a pair of of same place can resolve its three-dimensional point by the forward intersection based on collinearity equation.By space and
Temporal accumulation, to obtain a large amount of point cloud data.The collinearity condition equation formula of close-range photogrammetry is as follows:
Wherein, R=[a1 b1 c1；a2 b2 c2；a3 b3 c3]。
Under two CCD camera measure system, a pair of of same place can list 4 equations, and need to solve 3 unknown numbers, therefore
Adjustment resolving can be carried out by the principle of least square.
3, deformation parameter resolves
In data handling procedure above-mentioned, it is already possible to obtain the three dimensional point cloud of any time.It is possible thereby to shape
At a variety of deformation parameters such as displacement, speed, acceleration, strain.
3.1 displacements, speed, acceleration
Displacement refers to target point in the time series current location at a certain moment is at a distance from the target point initial time
Difference.Thus the displacement that can know trace point initial time is 0.For example, the displacement formula of three-dimensional point displacement data is as follows:
Wherein,WithRespectively indicate target point X and Y-direction moment n displacement；X1, Y1And Z1Respectively
Indicate target point in X, Y and Z-direction in the coordinate value of initial time；Xn, YnAnd ZnRespectively indicate target point X, Y and Z-direction in
The coordinate value of moment n.
Since the acquisition frame frequency of high speed camera is fixed and invariable, the time difference of adjacent two frame can be obtained.If will
Displacement data carries out once differentiation and second differential to the time respectively, can obtain corresponding speed data and acceleration information.
Therefore, all target points of rock surface all carry out the above processing, can form displacement field, velocity field and acceleration field.
3.2 strain value
In strain parsing, the strain value of certain point can be calculated by the displacement data of surrounding, thus can will be each
Centered on target point, a displacement window is chosen around it and carries out strain value resolving.In the displacement window, it is believed that its position
It is linear for moving distribution.It is displaced may be expressed as: with the relationship of coordinate
Wherein, u (i, j) and v (i, j) is the shift value for the point (i, j) being displaced under window, aI=0,1,2And bI=0,1,2It is multinomial
The undetermined coefficient of formula.
Compared with small deformation, the components of strain can be solved by following formula:
The size of the displacement window size can be determined according to demand, if window size is larger, it is also possible to which high order is more
Formula indicates Displacements Distribution.But in general, the size of the displacement window should be chosen moderate by experiment demand, from formula
(3) and from the point of view of publicity (4), the plane coordinates of minimum known three points can solve its components of strain.Under uniaxial compression, more
It is concerned with the deformation occurred in rock surface.Therefore, in the three-dimensional point cloud that early period generates, only consider in its space plane
Strain.
The observation object of this experiment is the rock sample block for carrying out crack extension measurement, which is by medical stone
Cream and water are made by mixing according to a certain percentage, are processed into the cube that a side length is 70mm by mold.In order to
Meet the needs of measurement, needs to spray speckle to increase observation point, detailed process is as follows: (1) the observation surface of coupon
It need to carry out being polishing to smooth；(2) it in the dumb light paint of observation surface spraying white, and carries out air-dried；(3) surface is being observed at random simultaneously
It equably sprays black matte paint or black ink, speckle image is formed with this.In addition, as shown in figure 5, two high speed cameras
Convergent photography measurement method is formed, and light filling is carried out to experimental subjects using high-power halogen lamp, guarantees the shooting quality of image.
In an experiment, two high speed cameras form binocular vision and carry out three-dimensional measurement, frame frequency setting to rock sample block
For 400 frames/second, it can accurately measure the dynamic data that frequency is up to 40Hz, i.e., every 10 image datas describe sample 1 time
Metamorphosis.The clapped image size of high speed camera is 2304 × 1720 pixels, and Pixel size is 7um.It is high for precise measure
The fast camera configuration tight shot of 50mm.
By calibration, the elements of interior orientation and opposite elements of exterior orientation of two high speed cameras can get, as a result such as table 1.
It is checked by the test point delimited on surface plate, calibration orientation accuracy is up to 0.01mm, and back projection's error is better than 0.2 picture
Element.
The elements of interior orientation and elements of exterior orientation of 1 high speed camera of table
According to aforementioned, need to carry out Yunnan snub-nosed monkey before matching, this chooses the sampling of target point in region of interest
Between be divided into 5 pixels, thus just produce 17423 target observation points, and carry out by 131 columns and 133 line numbers regularly arranged.It is right
All target points determine target image block, and wherein target window is sized to 30 pixels, the size of search window of the same name
It is set as 50 pixels.After homotopy mapping, normalizated correlation coefficient statistical chart can get, as shown in fig. 6, can be with from figure
Know have the related coefficient of 14084 pairs of same places in 0.9~1.0 this value range, there is the related coefficient of 3315 pairs of same places
In 0.8~0.9 this value range.It is nearly all since related coefficient is that high image is related in 0.8 or more numerical value
Target point can be matched to same place, and matching precision is high.However part Point correlation coefficient numerical value is less than normal, this is because individual mesh
The less caused matching precision of texture information for marking image blocks is not high.Such case can be by way of numerical value interpolation by these
Bad point resolves.
After all target points carry out tracking and matching, sequence corresponding image points coordinate can be obtained, then by three-dimensional reconstruction, it can
To obtain the three dimensional point cloud of any time rock surface.Such as Fig. 7, rock can also be intuitively found out from three dimensional point cloud
The three-dimensional deformation state that surface occurs.
3-D displacement field and strain field can be formed by deformation parameter resolving, respectively such as Fig. 8 and Fig. 9.In compression process,
The top of rock produces crack, and then generates destruction to rock, and bigger deformation occurs.In addition, can be bright from strain field
Aobvious to find out, the fracture tendency of rock will extend downwardly.
This patent measures rock fracture way of extensive experimentation using 400 frame frequencies/second high speed camera, describes binocular vision in detail
Three-dimensional rebuilding method, while proposing a kind of speckle Image Matching strategy and matching process, and then propose a set of complete three
Tie up distortion measurement scheme.
1) this programme has measured displacement field and strain field dynamic change of the experimental subjects in rupture process, wherein target point
Position spatial positioning accuracy can reach 0.01mm, demonstrate a whole set of measurement scheme applied in Rock fracture experiment it is feasible
Property and validity.
2) during speckle Image Matching, the selection interval of target point and target image block window can be according to experiment demands
It determines, which increase the flexibilities of data analysis.
3) high-speed video measuring technique can measure high-speed moving object by exclusive high frame frequency characteristic, and acquisition frame frequency is
400 frames/second high speed camera can accurately measure the dynamic data that frequency is up to 40Hz.
4) this patent equally illustrates the solution procedure of deformation parameter, can further to research and analyse that work provides
The experimental data leaned on.
Claims (7)
1. a kind of rock fracture way of extensive experimentation monitoring method based on high-speed video measurement, which comprises the following steps:
1) rupture process of the rock to be measured under uniaxial compression is obtained by two high speed cameras in two CCD camera measure system
Sequential images and storage；
2) in sequential images resolving, it is of the same name that the sequence in speckle region of interest is calculated by sub-pixel tracking and matching method
Picpointed coordinate, and timing three-dimensional point cloud number of the rock surface to be measured under uniaxial compression is obtained by photogrammetric analytical algorithm
According to；
3) it is analyzed for the Time-space serial of sequence three-dimensional point cloud, obtains the three-dimensional deformation parameter of rock fracture to be measured, including be displaced,
Speed, acceleration and strain field.
2. a kind of rock fracture way of extensive experimentation monitoring method based on high-speed video measurement according to claim 1, special
Sign is, in the step 1), the high speed camera in the two CCD camera measure system is industrial camera, is controlled by synchronous
Device processed keeps image collection synchronous.
3. a kind of rock fracture way of extensive experimentation monitoring method based on high-speed video measurement according to claim 2, special
Sign is that two high speed cameras are horizontal positioned, and is shot using convergent photography mode, is reached with this and increases image weight
The purpose of folded coverage rate.
4. a kind of rock fracture way of extensive experimentation monitoring method based on high-speed video measurement according to claim 1, special
Sign is, in the step 1), sprays speckle regions on rock to be measured, specifically:
Rock surface to be measured be polishing to it is smooth, observation surface spraying white dumb light paint, and carry out it is air-dried, observation surface with
Machine simultaneously equably sprays black matte paint or black ink, and forming speckle will dissipate using entire speckle regions as speckle region of interest
Spot is as target point.
5. a kind of rock fracture way of extensive experimentation monitoring method based on high-speed video measurement according to claim 1, special
Sign is, the step 2) specifically includes the following steps:
21) stereo calibration of high speed camera: the inner orientation member of high speed camera is obtained simultaneously by the scaling method based on surface plate
Element and elements of exterior orientation；
22) speckle Yunnan snub-nosed monkey: choosing speckle region of interest in sequential images and target point is determined in region of interest；
23) homotopy mapping: the image that two high speed cameras are acquired simultaneously passes through normalizated correlation coefficient as matching object
It determines the rough point of whole Pixel-level, and determines the accurate point of sub-pixel by Least squares matching method；
24) target following matches: the before and after frames image of the sequential images acquired using high speed camera obtains target as matching object
Timing two dimension picpointed coordinate of the point in sequential images；
25) three-dimensional point cloud is rebuild: according to the picpointed coordinate of each pair of same place after matching and calibrated elements of interior orientation and
Elements of exterior orientation is sat by the timing three-dimensional point of target point of the same name in the forward intersection acquisition sequential images based on collinearity equation
Mark.
6. a kind of rock fracture way of extensive experimentation monitoring method based on high-speed video measurement according to claim 5, special
Sign is, in the step 23), Least squares matching method is up to objective function with normalizated correlation coefficient, considers left
Affine distortion model between right image, it is final to obtain essence using the grayscale information and location information progress adjustment processing in window
Really matching point.
7. a kind of rock fracture way of extensive experimentation monitoring method based on high-speed video measurement according to claim 5, special
Sign is, obtains displacement data by the difference to timing three-dimensional point position coordinate in the step 3), by displacement data when
Between it is upper carry out once differentiation and second differential, obtain speed data and acceleration information respectively.
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