CN110608796A - Structure three-dimensional vibration measurement method based on double unmanned aerial vehicles - Google Patents
Structure three-dimensional vibration measurement method based on double unmanned aerial vehicles Download PDFInfo
- Publication number
- CN110608796A CN110608796A CN201910731487.3A CN201910731487A CN110608796A CN 110608796 A CN110608796 A CN 110608796A CN 201910731487 A CN201910731487 A CN 201910731487A CN 110608796 A CN110608796 A CN 110608796A
- Authority
- CN
- China
- Prior art keywords
- vibration
- displacement
- measured
- point
- image
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01H—MEASUREMENT OF MECHANICAL VIBRATIONS OR ULTRASONIC, SONIC OR INFRASONIC WAVES
- G01H9/00—Measuring mechanical vibrations or ultrasonic, sonic or infrasonic waves by using radiation-sensitive means, e.g. optical means
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention relates to the technical field of structural vibration photogrammetry, and provides a structural three-dimensional vibration measurement method based on double unmanned aerial vehicles, which comprises the following steps: carrying out image acquisition on the structural vibration process by two unmanned aerial vehicles simultaneously to obtain two groups of image sequences containing structural vibration information; respectively and randomly selecting a point P to be measured from the first image of the two image sequences1And P2Separately tracking the point P to be measured1And P2Displacement in the image sequence where it is located and output the point P to be measured1And P2A coordinate sequence of (a); for the point P to be measured1And P2The coordinate sequence is subjected to stereo matching to obtain a point P to be measured1And P2Three-dimensional coordinates of (a); according to the point P to be measured1And P2The three-dimensional coordinate of the structure is calculated to obtain the vibration displacement of the structure in three directions. According to the invention, two unmanned aerial vehicles are adopted for three-dimensional vibration image acquisition of the structure, so that the structure vibration displacement can be obtained from multiple angles, and the structure is improvedVibration measurement accuracy.
Description
Technical Field
The invention relates to the technical field of structural vibration photogrammetry, in particular to a structural three-dimensional vibration measurement method based on double unmanned aerial vehicles.
Background
Vibration is a physical phenomenon generally existing in nature, and vibration measurement has wide application in the technical field of civil engineering, such as low-frequency vibration monitoring of large building structures, so that how to obtain vibration displacement response of the structure in the field of civil engineering is always a concern in civil engineering.
The current vibration measurement method can be divided into a contact type measurement method and a non-contact type measurement method, wherein the contact type measurement method is widely used for carrying out structural vibration measurement by using sensors such as an acceleration sensor, however, the contact type measurement method has higher requirements on environmental conditions and has certain limitation in special application occasions. The non-contact measurement generally adopts a camera at a fixed position to carry out vibration measurement on the structure, and because the shot angle is fixed, only vibration displacement in a certain fixed direction of the structure can be obtained, so that the vibration measurement accuracy of the structure is influenced to a certain extent, and the non-contact measurement also has certain limitation in special application occasions.
Disclosure of Invention
The invention provides a structure three-dimensional vibration measurement method based on double unmanned aerial vehicles, aiming at overcoming the defect that only vibration displacement at a fixed angle can be obtained in the prior art.
In order to solve the technical problems, the technical scheme of the invention is as follows:
a structure three-dimensional vibration measurement method based on double unmanned aerial vehicles comprises the following steps:
s1: carrying out image acquisition on the structural vibration process by two unmanned aerial vehicles simultaneously to obtain two groups of image sequences containing structural vibration information;
s2: respectively and randomly selecting a point P to be measured from the first image of the two image sequences1And P2Separately tracking the point P to be measured1And P2Displacement in the image sequence where it is located and output the point P to be measured1And P2A coordinate sequence of (a);
s3: for the point P to be measured1And P2The coordinate sequence is subjected to stereo matching to obtain a point P to be measured1And P2Three-dimensional coordinates of (a);
s4: according to the point P to be measured1And P2The three-dimensional coordinate of the structure is calculated to obtain the vibration displacement of the structure in three directions.
In the technical scheme, two unmanned aerial vehicles are applied to three-dimensional vibration measurement of the structure, and because the unmanned aerial vehicles have the advantages of convenience in carrying, simplicity in operation and no limitation to terrain influence, the three-dimensional vibration measurement can be carried out on the structure in complex terrain or with high risk, two image sequences containing structural vibration information are obtained, then, displacement tracking is carried out on the arbitrarily selected point to be measured in the two obtained image sequences, the three-dimensional coordinate of the point to be measured in the image and the vibration displacement of the point to be measured in the three-dimensional direction are obtained, and the structural three-dimensional vibration measurement result is obtained.
Preferably, in step S1, the two drones respectively perform image acquisition on the vibration process of the structure from the front left and the front right of the structure, so as to realize the stereo measurement of the structure.
Preferably, the point P to be measured1And P2And measuring points of the same structure position on two angle images corresponding to the same structure to be measured.
Preferably, the specific steps of the step S2 are as follows: respectively and randomly selecting a point P to be measured from the first image of the two groups of collected image sequences1And P2And tracking the point P to be measured according to the gray value of the measuring point by a Digital Image Correlation (DIC) program1And P2A displacement in the sequence of images in which it is located.
Preferably, the point P to be measured is tracked by a digital image correlation procedure1And P2The specific steps of displacement in the image sequence in which it is located include: selecting a sub-region with the size of m multiplied by m with a point to be measured as the center from a first image by utilizing a binocular stereo vision technology, calculating a correlation coefficient C of the sub-region, moving the position of the sub-region on other images in an image sequence, calculating the correlation coefficient C of the sub-region at different positions, taking the correlation coefficient C in each image of the image sequence as the displacement of the sub-region with the maximum value, and calculating the displacement value of the whole pixel in the sub-region of the image and the previous image to obtain the point to be measured P1And P2A displacement in the image sequence in which it is located; wherein m is a positive integer.
Preferably, in step S4, the vibration displacement includes vibration displacement in the X direction and vibration in the Y direction
Displacement, vibration displacement in the Z direction, and the calculation formula of the vibration displacement is as follows:
vibration displacement in the X direction: xDisplacement by vibration＝XAfter deformation-XBefore deformation；
Vibration displacement in the Y direction: y isDisplacement by vibration＝YAfter deformation-YBefore deformation；
Vibration displacement in the Z direction: zDisplacement by vibration＝ZAfter deformation-ZBefore deformation。
Compared with the prior art, the technical scheme of the invention has the beneficial effects that: the two unmanned aerial vehicles are applied to three-dimensional vibration image acquisition of the structure, the shooting angle of the structure is flexibly selected to carry out three-dimensional measurement on the structure to be measured, the real vibration of the structure can be effectively restored, and the unmanned aerial vehicle is suitable for complex terrains or shooting environments with high risks; by adopting a digital image correlation method to obtain the displacement of the point to be measured in the image sequence and the coordinate sequence of the measuring point, the three-dimensional vibration displacement of the structure with higher accuracy can be obtained.
Drawings
Fig. 1 is a flowchart of a structural three-dimensional vibration measurement method based on dual drones according to this embodiment.
Fig. 2 is a schematic view of image acquisition by two drones according to this embodiment.
Detailed Description
The drawings are for illustrative purposes only and are not to be construed as limiting the patent;
for the purpose of better illustrating the embodiments, certain features of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product;
it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.
The technical solution of the present invention is further described below with reference to the accompanying drawings and examples.
Fig. 1 is a flowchart of a structural three-dimensional vibration measurement method based on dual drones according to this embodiment.
The embodiment provides a structural three-dimensional vibration measurement method based on double unmanned aerial vehicles, which comprises the following steps:
step 1: and simultaneously carrying out image acquisition on the structural vibration process through two unmanned aerial vehicles to obtain two sets of image sequences containing structural vibration information.
In this embodiment, two unmanned aerial vehicles carry out image acquisition to the vibration process of structure respectively from the left place ahead and the right place ahead of structure, and the point P of awaiting measuring1And P2And measuring points of the same structure position on two angle images corresponding to the same structure to be measured.
As shown in fig. 2, is a schematic diagram of image acquisition of the dual drones of this embodiment.
Step 2: respectively and randomly selecting a point P to be measured from the first image of the two image sequences1And P2Separately tracking the point P to be measured1And P2Displacement in the image sequence where it is located and output the point P to be measured1And P2Is calculated from the coordinate sequence of (1).
In this step, a point P to be measured is arbitrarily selected from the first images of the two image sequences1And P2And tracking the point P to be measured according to the gray value of the measuring point by a digital image correlation method program1And P2A displacement in the sequence of images in which it is located.
Specifically, the point P to be measured is tracked by a digital image correlation method program1And P2In the process of displacement in the image sequence, a binocular stereo vision technology is utilized, a sub-region with the size of m multiplied by m and taking a point to be measured as the center is selected from a first image, a correlation coefficient C of the sub-region is calculated, then the position of the sub-region is moved on other images in the image sequence, the correlation coefficient C of the sub-region at different positions is calculated, the sub-region with the correlation coefficient C as the maximum value in each image in the image sequence is taken as the displacement of the sub-region, and the displacement value of the whole pixel in the sub-region of the image and the previous image is calculated, so that the point to be measured P is obtained1And P2In the image in which it is locatedA shift in the sequence; wherein m is a positive integer.
And step 3: for the point P to be measured1And P2The coordinate sequence is subjected to stereo matching to obtain a point P to be measured1And P2Three-dimensional coordinates of (a).
And 4, step 4: according to the point P to be measured1And P2The three-dimensional coordinate obtains the vibration displacement of the structure in three directions through three-dimensional coordinate operation, wherein the vibration displacement comprises the vibration displacement in the X direction, the vibration displacement in the Y direction and the vibration displacement in the Z direction, and the calculation formula is as follows:
vibration displacement in the X direction: xDisplacement by vibration＝XAfter deformation-XBefore deformation；
Vibration displacement in the Y direction: y isDisplacement by vibration＝YAfter deformation-YBefore deformation；
Vibration displacement in the Z direction: zDisplacement by vibration＝ZAfter deformation-ZBefore deformation。
In this embodiment, be applied to the three-dimensional vibration image acquisition of structure with two unmanned aerial vehicles, the shooting angle of nimble selection structure carries out the stereometric to the structure of awaiting measuring, effectively restores the true vibration of structure, and is applicable to in complicated topography or the great shooting environment of danger. And then, the displacement of the point to be measured in the image sequence and the coordinate sequence of the measuring point are obtained by adopting a digital image correlation method, so that the three-dimensional vibration displacement of the structure with higher accuracy can be obtained.
The same or similar reference numerals correspond to the same or similar parts;
the terms describing positional relationships in the drawings are for illustrative purposes only and are not to be construed as limiting the patent;
it should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.
Claims (6)
1. A structure three-dimensional vibration measurement method based on double unmanned aerial vehicles is characterized by comprising the following steps:
s1: carrying out image acquisition on the structural vibration process by two unmanned aerial vehicles simultaneously to obtain two groups of image sequences containing structural vibration information;
s2: respectively and randomly selecting a point P to be measured from the first image of the two image sequences1And P2Separately tracking the point P to be measured1And P2Displacement in the image sequence where it is located and output the point P to be measured1And P2A coordinate sequence of (a);
s3: for the point P to be measured1And P2The coordinate sequence is subjected to stereo matching to obtain a point P to be measured1And P2Three-dimensional coordinates of (a);
s4: according to the point P to be measured1And P2The three-dimensional coordinate of the structure is calculated to obtain the vibration displacement of the structure in three directions.
2. The method of measuring three-dimensional vibration of a structure according to claim 1, characterized in that: and in the step S1, the two unmanned aerial vehicles respectively acquire images of the vibration process of the structure from the left front side and the right front side of the structure.
3. The method of measuring three-dimensional vibration of a structure according to claim 2, characterized in that: the point P to be measured1And P2And measuring points of the same structure position on two angle images corresponding to the same structure to be measured.
4. The method of measuring three-dimensional vibration of a structure according to claim 1, characterized in that: the specific steps of the step S2 are as follows: respectively and randomly selecting a point P to be measured from the first image of the two image sequences1And P2And tracking the point P to be measured according to the gray value of the measuring point by a digital image correlation method program1And P2A displacement in the sequence of images in which it is located.
5. A method of measuring vibration of a structure in three dimensions according to claim 3, characterized in that: the point P to be measured is tracked by a digital image correlation method program1And P2The specific steps of displacement in the image sequence in which it is located include: selecting a sub-region with the size of m multiplied by m with a point to be measured as the center from a first image by utilizing a binocular stereo vision technology, calculating a correlation coefficient C of the sub-region, moving the position of the sub-region on other images in an image sequence, calculating the correlation coefficient C of the sub-region at different positions, taking the correlation coefficient C in each image of the image sequence as the displacement of the sub-region with the maximum value, and calculating the displacement value of the whole pixel in the sub-region of the image and the previous image to obtain the point to be measured P1And P2A displacement in the image sequence in which it is located; wherein m is a positive integer.
6. The method of measuring three-dimensional vibration of a structure according to claim 1, characterized in that: in the step S4, the vibration displacement includes vibration displacement in the X direction, vibration displacement in the Y direction, and vibration displacement in the Z direction, and the calculation formula is as follows:
vibration displacement in the X direction: xDisplacement by vibration＝XAfter deformation-XBefore deformation；
Vibration displacement in the Y direction: y isDisplacement by vibration＝YAfter deformation-YBefore deformation；
Vibration displacement in the Z direction: zDisplacement by vibration＝ZAfter deformation-ZBefore deformation。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910731487.3A CN110608796A (en) | 2019-08-08 | 2019-08-08 | Structure three-dimensional vibration measurement method based on double unmanned aerial vehicles |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910731487.3A CN110608796A (en) | 2019-08-08 | 2019-08-08 | Structure three-dimensional vibration measurement method based on double unmanned aerial vehicles |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110608796A true CN110608796A (en) | 2019-12-24 |
Family
ID=68890140
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910731487.3A Pending CN110608796A (en) | 2019-08-08 | 2019-08-08 | Structure three-dimensional vibration measurement method based on double unmanned aerial vehicles |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110608796A (en) |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20130058581A1 (en) * | 2010-06-23 | 2013-03-07 | Beihang University | Microscopic Vision Measurement Method Based On Adaptive Positioning Of Camera Coordinate Frame |
| CN109360246A (en) * | 2018-11-02 | 2019-02-19 | 哈尔滨工业大学 | Stereo vision three-dimensional displacement measurement method based on synchronous sub-district search |
| CN109579712A (en) * | 2018-11-16 | 2019-04-05 | 天津大学 | Based on the contactless high slope surface displacement monitoring method of unmanned plane and monitoring system |
-
2019
- 2019-08-08 CN CN201910731487.3A patent/CN110608796A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20130058581A1 (en) * | 2010-06-23 | 2013-03-07 | Beihang University | Microscopic Vision Measurement Method Based On Adaptive Positioning Of Camera Coordinate Frame |
| CN109360246A (en) * | 2018-11-02 | 2019-02-19 | 哈尔滨工业大学 | Stereo vision three-dimensional displacement measurement method based on synchronous sub-district search |
| CN109579712A (en) * | 2018-11-16 | 2019-04-05 | 天津大学 | Based on the contactless high slope surface displacement monitoring method of unmanned plane and monitoring system |
Non-Patent Citations (1)
| Title |
|---|
| 李胜勇: "《数字光学测量技术和应用》", 31 October 2018, 国防工业出版社 * |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111156998B (en) | Mobile robot positioning method based on RGB-D camera and IMU information fusion | |
| CN111833333B (en) | Method and system for measuring pose of cantilever tunneling equipment based on binocular vision | |
| CN104933718B (en) | A kind of physical coordinates localization method based on binocular vision | |
| CN107945220B (en) | Binocular vision-based reconstruction method | |
| CN109506642B (en) | Robot multi-camera visual inertia real-time positioning method and device | |
| CN103714571B (en) | A kind of based on photogrammetric single camera three-dimensional rebuilding method | |
| CN103759670B (en) | A kind of object dimensional information getting method based on numeral up short | |
| JP5992184B2 (en) | Image data processing apparatus, image data processing method, and image data processing program | |
| CN109559355B (en) | Multi-camera global calibration device and method without public view field based on camera set | |
| CN108269286B (en) | Multi-camera pose association method based on combined three-dimensional signs | |
| CN107909614B (en) | Positioning method of inspection robot in GPS failure environment | |
| CN109648558B (en) | Robot curved surface motion positioning method and motion positioning system thereof | |
| CN108519102B (en) | Binocular vision mileage calculation method based on secondary projection | |
| CN102788572B (en) | Method, device and system for measuring attitude of engineering machinery lifting hook | |
| CN102798456B (en) | Method, device and system for measuring working amplitude of engineering mechanical arm support system | |
| CN108846857A (en) | The measurement method and visual odometry of visual odometry | |
| CN114608561B (en) | Positioning and mapping method and system based on multi-sensor fusion | |
| CN110140023B (en) | Marker, and attitude estimation method and position/attitude estimation method using same | |
| CN112254729A (en) | Mobile robot positioning method based on multi-sensor fusion | |
| CN113870366B (en) | Calibration method and calibration system of three-dimensional scanning system based on pose sensor | |
| CN116222543B (en) | Multi-sensor fusion map construction method and system for robot environment perception | |
| CN112580683B (en) | Multi-sensor data time alignment system and method based on cross correlation | |
| CN113570662B (en) | System and method for 3D localization of landmarks from real world images | |
| CN113052897A (en) | Positioning initialization method and related device, equipment and storage medium | |
| CN113701750A (en) | Fusion positioning system of underground multi-sensor |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20191224 |
|
| RJ01 | Rejection of invention patent application after publication |